precision reduction gear rv tm · 2016-08-02 · gh 7 gh 17 gh 24 gh 40 high speed gearheads taking...
TRANSCRIPT
®
Precision Reduction Gear RV TM
High-speed Gearhead
G H S e r i e s
CAT.150410 (Issued on April. 10, 2015)
Rev. 011
● Nabtesco, VIGOGREASE, RV are registered trademarks or trademarks of Nabtesco Corporation.● Specifications are subject to change without notice.● The PDF data of this catalog can be downloaded from the following website. http://precision.nabtesco.com/ If any addition or modification is made to the published information, the PDF data may be updated before the printed catalog. Due to this, please note that some contents of the PDF data may be changed or revised from those in this catalog.● Unauthorized reprinting, reproduction, copying, or translation of this catalog in whole or in part is strictly prohibited.
Europe and Africa
North and South America
China
Asia and others
Nabtesco Precision Europe GmbHTiefenbroicher Weg 15, 40472 Düesseldorf, GermanyTEL: +49-211-173790 FAX: +49-211-364677E-MAIL: [email protected] www.nabtesco.de
Nabtesco Motion Control Inc. in U.S.A (North America & South America)23976 Freeway Park Drive, Farmington Hills, MI 48335, USATEL: +1-248-553-3020 FAX: +1-248-553-3070E-MAIL: [email protected] www.nabtescomotioncontrol.com
Shanghai Nabtesco Motion-equipment Co., Ltd.Room 1706, Hong Jia Tower, No. 388 Fu Shan Road, Pudong New Area, Shanghai 200122, ChinaTEL: +86-21-3363-2200 FAX: +86-21-3363-2655E-MAIL: [email protected] www.nabtesco-motion.cn
Nabtesco CorporationOsaka Sales Office21st Fl, Dojima Avanza, 1-6-20 Dojima, Kita-ku, Osaka 530-0003, JapanTEL: +81-6-6341-7180 FAX: +81-6-6341-7182
Tsu Plant (Engineering Department)594 Icchoda, Katada-cho, Tsu, Mie 514-8533, JapanTEL: +81-59-237-4600 FAX: +81-59-237-4610
E-MAIL: [email protected] www.nabtesco.com
GH 7
GH 17
GH 24
GH 40
High Speed Gearheads taking your servomotor performance to the limitGH Series,
The GH Series provides significant advantages in terms of ease-of-use. It is based on a highly successful product, the Precision Reduction Gear RV, used in various applications around the world.
1. In the case where Nabtesco confirms that a defect of the Product was caused due to Nabtesco’s design or manufacture within the Warranty Period of the Product, Nabtesco shall repair or replace such defective Product at its cost. The Warranty Period shall be from the delivery of the Product by Nabtesco or its distribu-tor to you (“Customer”) until the end of one (1) year thereafter, or the end of two thousand (2,000) hours running of the Product installed into Customer’s equipment, whichever comes earlier.
2. Unless otherwise expressly agreed between the parties in writing, the warranty obligations for the Product shall be limited to the repair or replacement set forth herein. OTHER THAN AS PROVIDED HEREIN, THERE ARE NO WARRATIES ON THE PRODUCT, EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE.
3. The warranty obligation under the Section 1 above shall not apply if:
a) the defect was caused due to the use of the Product deviated from the Specifications or the working conditions provided by Nabtesco;
b) the defect was caused due to exposure to foreign substances or contamination (dirt, sand etc.)
c) lubricant or spare part other than the ones recommended by Nabtesco was used in the Product;
d) the Product was used in an unusual environment (such as high temperature, high humidity, a lot of dust, corrosive/volatile/inflammable gas, pressurized/depressurized air, under water/liquid or others except for those expressly stated in the Specifications);
e) the Product was disassembled, re-assembled, repaired or modified by anyone other than Nabtesco;
f ) the defect was caused due to the equipment into which the Product was installed;
g) the defect was caused due to an accident such as fire, earthquake, lightning, flood or others; or
h) the defect was due to any cause other than the design or manufacturing of the Product.
4. The warranty period for the repaired/replaced Product/part under the Section 1 above shall be the rest of the initial Warranty Period of the defective Product subjected to such repair/replace.
Warranty
01
Table of Contents
Features and Configurations 02
Principle of Operation 03
Specifications 04
Considering the use of the GH Series 06
Technical Information
Glossary 07
08Selection Flow Chart
10Performance
11Model Code
12External Dimension Drawing Reduction Gear
18External Dimension Drawing Input Spline Set
22External Dimension Drawing Motor Flange
24Combination with Non-standard Product
26Engineering Notes
30Appendix
Back inside coverWarranty
17Model Code Selection (Precautions)
02 03
High reliabilityHigh rigidityHigh precisionHigh speed
Heavy load support
Maximum ease of use
The double-end support design and unique pin gear mechanism provide the following advantages:
(1) Capable of 7 times the rated torque(2) High rigidity as well as small backlash [6 arc.min](3) Capable of high output speed with low reduction ratio (1/11 to 1/31)(4) High torque density
A set of internal main bearings (large angular ball bearings) enables complete support of heavy external loads.
(1) Pre greased(2) Easy motor mounting thanks to the special input spline and motor flange.
■ Rotation direction The rotation direction of the output shaft is same as that of the input spline.
Features and Configurations
Middle flange
Motor flange (option)
Input spline set (option)
Hold flange
Crankshaft
Main bearing
Pin
Oil seal
Shaft
Input gear
Output flange
Spur gear
Case
RV gear
Oil seal■ Fig. 3 Second reduction section
■ Fig. 1 First reduction section
■ Fig. 2 Crankshaft section
Principle of Operation
Since they are directly connected, the crankshafts have the same rotational speed as the spur gears <Fig. 1>.
2.
6. As the crankshafts revolve one complete rotation, the RV gears revolve eccentrically one pitch of a pin (crank movement). As a result of this, the RV gears rotate one tooth in the direction opposite to the rotation of the crankshafts <Fig. 3>.
8. The total reduction ratio is the product of the first reduction ratio multiplied by the second reduction ratio.
7. The rotation is then transmitted to the shaft (output shaft) via the crankshaft. At this time, the shaft rotation speed can be reduced in proportion to the number of pins against the crankshaft. This is the second reduction section <Fig. 3>.
5. Pins are arrayed in a constant pitch in the grooves inside the case. The number of pins is just one larger than the number of RV teeth <Fig. 3>.
4. When the crankshafts rotate, the RV gears mounted on the eccentric sections also revolve eccentrically around the input axis (crank movement) <Fig. 2>.
3. Two RV gears are mounted around the needle bearings on the eccentric region of the crankshaft. (In order to balance the equal amount of force, two RV gears are mounted) <Fig. 2>.
1. Rotation of the servomotor is transmitted through the input gear to the spur gears, and the speed is reduced accordingly with the gear ratio between the input gear and the spur gears. This is the first reduction section <Fig. 1>.
Crankshaft
Spur gear
Input gear
Crankshaft
Spur gear
Rotation
Eccentric region
Needlebearing
RV gear
Rotation
Crankmovement
Crankshaft(connected to the spur gear)
ShaftRV gear
Case
Pin
Crankshaft Rotation angle 0˚ Rotation angle 180˚ Rotation angle 360˚
02 03
High reliabilityHigh rigidityHigh precisionHigh speed
Heavy load support
Maximum ease of use
The double-end support design and unique pin gear mechanism provide the following advantages:
(1) Capable of 7 times the rated torque(2) High rigidity as well as small backlash [6 arc.min](3) Capable of high output speed with low reduction ratio (1/11 to 1/31)(4) High torque density
A set of internal main bearings (large angular ball bearings) enables complete support of heavy external loads.
(1) Pre greased(2) Easy motor mounting thanks to the special input spline and motor flange.
■ Rotation direction The rotation direction of the output shaft is same as that of the input spline.
Features and Configurations
Middle flange
Motor flange (option)
Input spline set (option)
Hold flange
Crankshaft
Main bearing
Pin
Oil seal
Shaft
Input gear
Output flange
Spur gear
Case
RV gear
Oil seal■ Fig. 3 Second reduction section
■ Fig. 1 First reduction section
■ Fig. 2 Crankshaft section
Principle of Operation
Since they are directly connected, the crankshafts have the same rotational speed as the spur gears <Fig. 1>.
2.
6. As the crankshafts revolve one complete rotation, the RV gears revolve eccentrically one pitch of a pin (crank movement). As a result of this, the RV gears rotate one tooth in the direction opposite to the rotation of the crankshafts <Fig. 3>.
8. The total reduction ratio is the product of the first reduction ratio multiplied by the second reduction ratio.
7. The rotation is then transmitted to the shaft (output shaft) via the crankshaft. At this time, the shaft rotation speed can be reduced in proportion to the number of pins against the crankshaft. This is the second reduction section <Fig. 3>.
5. Pins are arrayed in a constant pitch in the grooves inside the case. The number of pins is just one larger than the number of RV teeth <Fig. 3>.
4. When the crankshafts rotate, the RV gears mounted on the eccentric sections also revolve eccentrically around the input axis (crank movement) <Fig. 2>.
3. Two RV gears are mounted around the needle bearings on the eccentric region of the crankshaft. (In order to balance the equal amount of force, two RV gears are mounted) <Fig. 2>.
1. Rotation of the servomotor is transmitted through the input gear to the spur gears, and the speed is reduced accordingly with the gear ratio between the input gear and the spur gears. This is the first reduction section <Fig. 1>.
Crankshaft
Spur gear
Input gear
Crankshaft
Spur gear
Rotation
Eccentric region
Needlebearing
RV gear
Rotation
Crankmovement
Crankshaft(connected to the spur gear)
ShaftRV gear
Case
Pin
Crankshaft Rotation angle 0˚ Rotation angle 180˚ Rotation angle 360˚
04 05
*1. The rating table shows the specification values of each reduction gear.*2. The allowable output speed may be limited by heat depending on the operation rate. If you use this product with the operation rate per cycle exceeding 50% or allowable output speed during continuous operation, contact us.*3. For the inertia moment value, both the reduction gear and the input gear are taken into consideration. This, however, does not include the inertia moment
of the input spline. Note: 1. The mechanical brake of the motor generates the momentary excessive torque in the reduction gear. Make sure that the value does not exceed the momentary maximum allowable torque. 2. The specifications above are based on Nabtesco evaluation methods; this product should only be used after confirming that it is appropriate for the operating conditions of your system.
Specifications
Allowable TorqueModelCode
Nm(Kgfm)
Nm(Kgfm)
Nm(Kgfm)
rpm rpm arc.min
Ratio RatedTorque(To)
RatioCode
rpm
RatedOutputSpeed(No)
Backlash
Kgm2 (Kg)
Inertia Moment I(I=GD2/4)
Input ShaftEquivalent
(*3)
Mass
Startup/Stop Torque
MomentaryMaximum
TorqueIntermittentOperation
ContinuousOperation
Allowable Output Speed(*2)
Rating Table (*1)
■ Shaft Type External Load Diagram
α1 L1
L2
W1
W2
α1 L1
L2
W1
W2
■ Flange Type External Load Diagram
GH7
GH17
GH24
GH40
GH100
461/4121
153/5112131112131
419/3921
723/2320.375
31.4
69(7)
167(17)
235(24)
392(40)
980(100)
206(21)
500(51)
706(72)
1176(120)
2942(300)
480(49)
1166(119)
1646(168)
2744(280)
6865(700)
150
150
150
150
65
270
270
250
250
135
6
6
6
6
10
50
50
50
50
50
1121311121311121311121312131
arc.min
Lost motion
(Representativevalue)
6
6
6
6
10
4.25 x 10-5
2.42 x 10-5
1.88 x 10-5
1.90 x 10-4
1.00 x 10-4
7.71 x 10-5
1.48 x 10-4
6.56 x 10-5
4.72 x 10-5
8.26 x 10-4
4.10 x 10-4
3.06 x 10-4
1.49 x 10-3
1.14 x 10-3
8
15.5
15.5
35.5
90
GH7
GH17
GH24
GH40
GH100
133.3
156.9
152.1
198.1
262.0
155.3
200.1
211.1
277.1
-
460(47)804(82)843(86)
1823(186)4900(500)
ModelCode
Nm(Kgfm) mm mm
Allowable Moment(Mo)
N(Kgf)
MaximumThrust Load
(W) Shaft typeFlange type
Dimension α1
Capacity of Main Bearing Load moment
1372(140)1960(200)2940(300)2940(300)5586(570)
Mc = { W1 x (α1 + L1) + W2 x L2} x 10-3
Mc Mo
Mc : Load moment (Nm)
W1, W2 : Load (N)
(α1 + L1) , L2 : Distance to the point of load application (mm)
L1 : Distance from the mounting surface of the output shaft to the point of load application (mm)
20(2)
45(4.6)
65(6.6)
108(11)
382(39)
Nm/arc.min(Kgfm/
arc.min.)
Torsional-rigidity
representativevalue
Technical Information
04 05
*1. The rating table shows the specification values of each reduction gear.*2. The allowable output speed may be limited by heat depending on the operation rate. If you use this product with the operation rate per cycle exceeding 50% or allowable output speed during continuous operation, contact us.*3. For the inertia moment value, both the reduction gear and the input gear are taken into consideration. This, however, does not include the inertia moment
of the input spline. Note: 1. The mechanical brake of the motor generates the momentary excessive torque in the reduction gear. Make sure that the value does not exceed the momentary maximum allowable torque. 2. The specifications above are based on Nabtesco evaluation methods; this product should only be used after confirming that it is appropriate for the operating conditions of your system.
Specifications
Allowable TorqueModelCode
Nm(Kgfm)
Nm(Kgfm)
Nm(Kgfm)
rpm rpm arc.min
Ratio RatedTorque(To)
RatioCode
rpm
RatedOutputSpeed(No)
Backlash
Kgm2 (Kg)
Inertia Moment I(I=GD2/4)
Input ShaftEquivalent
(*3)
Mass
Startup/Stop Torque
MomentaryMaximum
TorqueIntermittentOperation
ContinuousOperation
Allowable Output Speed(*2)
Rating Table (*1)
■ Shaft Type External Load Diagram
α1 L1
L2
W1
W2
α1 L1
L2
W1
W2
■ Flange Type External Load Diagram
GH7
GH17
GH24
GH40
GH100
461/4121
153/5112131112131
419/3921
723/2320.375
31.4
69(7)
167(17)
235(24)
392(40)
980(100)
206(21)
500(51)
706(72)
1176(120)
2942(300)
480(49)
1166(119)
1646(168)
2744(280)
6865(700)
150
150
150
150
65
270
270
250
250
135
6
6
6
6
10
50
50
50
50
50
1121311121311121311121312131
arc.min
Lost motion
(Representativevalue)
6
6
6
6
10
4.25 x 10-5
2.42 x 10-5
1.88 x 10-5
1.90 x 10-4
1.00 x 10-4
7.71 x 10-5
1.48 x 10-4
6.56 x 10-5
4.72 x 10-5
8.26 x 10-4
4.10 x 10-4
3.06 x 10-4
1.49 x 10-3
1.14 x 10-3
8
15.5
15.5
35.5
90
GH7
GH17
GH24
GH40
GH100
133.3
156.9
152.1
198.1
262.0
155.3
200.1
211.1
277.1
-
460(47)804(82)843(86)
1823(186)4900(500)
ModelCode
Nm(Kgfm) mm mm
Allowable Moment(Mo)
N(Kgf)
MaximumThrust Load
(W) Shaft typeFlange type
Dimension α1
Capacity of Main Bearing Load moment
1372(140)1960(200)2940(300)2940(300)5586(570)
Mc = { W1 x (α1 + L1) + W2 x L2} x 10-3
Mc Mo
Mc : Load moment (Nm)
W1, W2 : Load (N)
(α1 + L1) , L2 : Distance to the point of load application (mm)
L1 : Distance from the mounting surface of the output shaft to the point of load application (mm)
20(2)
45(4.6)
65(6.6)
108(11)
382(39)
Nm/arc.min(Kgfm/
arc.min.)
Torsional-rigidity
representativevalue
Technical Information
06 07
Note: Contact us in case the rotation angle is 10 degrees or less.
http://precision.nabtesco.com/
Considering the use of the GH Series
Operating environment
Product specifications indicated in this catalog
Export
Safety measures
Reduction gear output rotation angle
Application
Maintenance
Reduction gear temperature
Manuals
Note 1:2:
Use the reduction gear under the following environment:
· Location where the ambient temperature is between -10°C to 40°C.
· Location where the humidity is less than 85% and no condensation occurs.
· Location where the altitude is less than 1000 m.
· Well-ventilated location
Do not install the reduction gear at the following locations.· Location where a lot of dust is collected.· Outdoors that can be directly affected by wind and rain· Location near the environment that contains combustible, explosive,
or corrosive gases and flammable materials.· Location that is heated due to heat transfer and radiation from
peripherals and direct sun.· Location where the performance of the motor can be affected by
magnetic fields or vibration.
If the required operating environment cannot be established/met, contact us in advance.When using the reduction gear under special conditions (clean room, equipment for food, concentrated alkali, high-pressure steam, etc.), contact our agent or nearest business office in advance.
This product features high precision and high rigidity, however,it is necessary to strictly comply with various restrictions and make appropriate to maximize the product’s features. Please read this technical document thoroughly and select and adopt an appropriate model based on the actual operating environment, method, and conditions your facility.
• When this product is exported from Japan, it may be subject to the export regulations provided in the “Foreign Exchange Order and Export Trade Control Order”. Be sure to take sufficient precautions and perform the required export procedures in advance if the final operating party is related to the military or the product is to be used in the manufacture of weapons, etc.
• If failure or malfunction of the product may directly endanger human life or if it is used in units which may injure the human body (atomic facilities, space equipment, medical equipment, safety units, etc.), examination of individual situations is required. Contact our agent or nearest business office in such a case.
• Although this product has been manufactured under strict quality control, a mistake in operation or misuse can result in breakdown or damage, or an accident resulting in injury or death. Be sure to take all appropriate safety measures, such as the installation of independent safeguards.
• The specifications indicated in this catalog are based on Nabtesco evaluation methods. This product should only be used after confirming that it is appropriate for the operating conditions of your system.
• The standard replacement time for Iubricant is 20,000 hours. However, when operation involves a reduction gear surface temperature above 40°C, the state of degradation of the lubricant should be checked in advance of that and the grease replaced earlier as necessary.
• When the reduction gear is used under high load and at a high duty ratio, it may overheat and the surface temperature may exceed the allowable temperature. Be aware of conditions so that the surface temperature of the reduction gear does not exceed 60°C while it is in operation. There is a possibility of damage (to the product) if the surface temperature exceeds 60°C.
• When the range of the rotation angle is small (10 degrees or less), the service life of the reduction gear may be reduced due to poor lubrication or the internal parts being subject to a concentrated load.
• Safety information and detail product instructions are indicated in the operation manual. The operation manual can be downloaded from the following website.
The allowable output speed when the reduction gear operation rate per cycle exceeds 50% is referred to as “allowable output speed [continuous]”.Note: Maintain the environment and operation conditions so
that the temperature of the reduction gear case is 60˚C or lower.
Allowable output speed [continuous]
Glossary
■ Hysteresis curve
When the machine starts or stops, the load torque to be applied to the reduction gear is larger than the constant-speed torque due to the effect of the inertia torque of the rotation part. In such a situation, the allowable torque during acceleration/deceleration is referred to as “allowable acceleration/deceleration torque”.Note: Be careful that the load torque, which is applied during
normal operation, does not exceed the allowable acceleration/deceleration torque.
Allowable acceleration/deceleration torque
A large torque may be applied to the reduction gear due to execution of emergency stop or by an external shock. In such a situation, the allowable value of the momentary applied torque is referred to as “momentary maximum allowable torque”.Note: The mechanical brake of the motor or any other factor
may generate the momentary excessive torque in the reduction gear. Be careful that the momentary excessive torque does not exceed the momentary maximum allowable torque.
■ Allowable moment diagram
The lifetime resulting from the operation with the rated torque and the rated output speed is referred to as the “life rating”. For the GH Series, the life rating is 6,000 hours continuous.
Life rating
Momentary maximum allowable torque
The allowable output speed during the operation in which the maximum torque is below the rated torque of the reduction gear and also when the operation rate of the reduction gear per cycle is below 30%, it is referred to as “allowable output speed [intermittent]”.Note: Maintain the environment and operation conditions so
that the temperature of the reduction gear case is 60˚C or lower.
Allowable output speed [intermittent] The external load moment may be applied to the reduction gear, and the allowable value of the external moment is referred to as “allowable moment”, while the allowable value of the axial load is referred to as “maximum axial load”.Note: When the load moment and the axial load are applied
concurrently, ensure that the reduction gear is used within the corresponding allowable moment range, which is indicated in the allowable moment diagram.
Allowable moment and maximum axial load
When torque is applied to the output shaft while the input shaft is fixed, torsion is generated on the output shaft according to the torque value and a hysteresis curve results.• The value of b/a is referred to as “torsional rigidity”.• The torsion angle at the mid point of the hysteresis curve
width at ±3% of rated torque is referred to as “lost motion”.
• The torsion angles when the torque indicated by the hysteresis curve is zero are referred to as “backlash”.
Rigidity (torsional rigidity and lost motion) and backlash
Backlash
Torsion angle
Lost motion
b
Rated torque Rated torque
±3% Rated torque
Thru
st lo
ad (N
)
Thru
st lo
ad (N
)
Allowable moment (Nm)Allowable moment (Nm)
GH40
GH24GH17
GH7
441 695 764 1786
111614811542
2651GH100
5191
4834
-100% +100%
a
06 07
Note: Contact us in case the rotation angle is 10 degrees or less.
http://precision.nabtesco.com/
Considering the use of the GH Series
Operating environment
Product specifications indicated in this catalog
Export
Safety measures
Reduction gear output rotation angle
Application
Maintenance
Reduction gear temperature
Manuals
Note 1:2:
Use the reduction gear under the following environment:
· Location where the ambient temperature is between -10°C to 40°C.
· Location where the humidity is less than 85% and no condensation occurs.
· Location where the altitude is less than 1000 m.
· Well-ventilated location
Do not install the reduction gear at the following locations.· Location where a lot of dust is collected.· Outdoors that can be directly affected by wind and rain· Location near the environment that contains combustible, explosive,
or corrosive gases and flammable materials.· Location that is heated due to heat transfer and radiation from
peripherals and direct sun.· Location where the performance of the motor can be affected by
magnetic fields or vibration.
If the required operating environment cannot be established/met, contact us in advance.When using the reduction gear under special conditions (clean room, equipment for food, concentrated alkali, high-pressure steam, etc.), contact our agent or nearest business office in advance.
This product features high precision and high rigidity, however,it is necessary to strictly comply with various restrictions and make appropriate to maximize the product’s features. Please read this technical document thoroughly and select and adopt an appropriate model based on the actual operating environment, method, and conditions your facility.
• When this product is exported from Japan, it may be subject to the export regulations provided in the “Foreign Exchange Order and Export Trade Control Order”. Be sure to take sufficient precautions and perform the required export procedures in advance if the final operating party is related to the military or the product is to be used in the manufacture of weapons, etc.
• If failure or malfunction of the product may directly endanger human life or if it is used in units which may injure the human body (atomic facilities, space equipment, medical equipment, safety units, etc.), examination of individual situations is required. Contact our agent or nearest business office in such a case.
• Although this product has been manufactured under strict quality control, a mistake in operation or misuse can result in breakdown or damage, or an accident resulting in injury or death. Be sure to take all appropriate safety measures, such as the installation of independent safeguards.
• The specifications indicated in this catalog are based on Nabtesco evaluation methods. This product should only be used after confirming that it is appropriate for the operating conditions of your system.
• The standard replacement time for Iubricant is 20,000 hours. However, when operation involves a reduction gear surface temperature above 40°C, the state of degradation of the lubricant should be checked in advance of that and the grease replaced earlier as necessary.
• When the reduction gear is used under high load and at a high duty ratio, it may overheat and the surface temperature may exceed the allowable temperature. Be aware of conditions so that the surface temperature of the reduction gear does not exceed 60°C while it is in operation. There is a possibility of damage (to the product) if the surface temperature exceeds 60°C.
• When the range of the rotation angle is small (10 degrees or less), the service life of the reduction gear may be reduced due to poor lubrication or the internal parts being subject to a concentrated load.
• Safety information and detail product instructions are indicated in the operation manual. The operation manual can be downloaded from the following website.
The allowable output speed when the reduction gear operation rate per cycle exceeds 50% is referred to as “allowable output speed [continuous]”.Note: Maintain the environment and operation conditions so
that the temperature of the reduction gear case is 60˚C or lower.
Allowable output speed [continuous]
Glossary
■ Hysteresis curve
When the machine starts or stops, the load torque to be applied to the reduction gear is larger than the constant-speed torque due to the effect of the inertia torque of the rotation part. In such a situation, the allowable torque during acceleration/deceleration is referred to as “allowable acceleration/deceleration torque”.Note: Be careful that the load torque, which is applied during
normal operation, does not exceed the allowable acceleration/deceleration torque.
Allowable acceleration/deceleration torque
A large torque may be applied to the reduction gear due to execution of emergency stop or by an external shock. In such a situation, the allowable value of the momentary applied torque is referred to as “momentary maximum allowable torque”.Note: The mechanical brake of the motor or any other factor
may generate the momentary excessive torque in the reduction gear. Be careful that the momentary excessive torque does not exceed the momentary maximum allowable torque.
■ Allowable moment diagram
The lifetime resulting from the operation with the rated torque and the rated output speed is referred to as the “life rating”. For the GH Series, the life rating is 6,000 hours continuous.
Life rating
Momentary maximum allowable torque
The allowable output speed during the operation in which the maximum torque is below the rated torque of the reduction gear and also when the operation rate of the reduction gear per cycle is below 30%, it is referred to as “allowable output speed [intermittent]”.Note: Maintain the environment and operation conditions so
that the temperature of the reduction gear case is 60˚C or lower.
Allowable output speed [intermittent] The external load moment may be applied to the reduction gear, and the allowable value of the external moment is referred to as “allowable moment”, while the allowable value of the axial load is referred to as “maximum axial load”.Note: When the load moment and the axial load are applied
concurrently, ensure that the reduction gear is used within the corresponding allowable moment range, which is indicated in the allowable moment diagram.
Allowable moment and maximum axial load
When torque is applied to the output shaft while the input shaft is fixed, torsion is generated on the output shaft according to the torque value and a hysteresis curve results.• The value of b/a is referred to as “torsional rigidity”.• The torsion angle at the mid point of the hysteresis curve
width at ±3% of rated torque is referred to as “lost motion”.
• The torsion angles when the torque indicated by the hysteresis curve is zero are referred to as “backlash”.
Rigidity (torsional rigidity and lost motion) and backlash
Backlash
Torsion angle
Lost motion
b
Rated torque Rated torque
±3% Rated torque
Thru
st lo
ad (N
)
Thru
st lo
ad (N
)
Allowable moment (Nm)Allowable moment (Nm)
GH40
GH24GH17
GH7
441 695 764 1786
111614811542
2651GH100
5191
4834
-100% +100%
a
Selection Flow Chart
(1) Study of
load characteristics
Provisionally selectthe model number
from the Rating Table.
Calculation of life rating(Lh)
Calculation of average load torque (Tm)Calculation of average output speed (Nm)
Lh Required life rating
Study of maximum output speed
Study of acceleration/deceleration torque (T1/T3) T1 or T3
Allowable acceleration/deceleration torque
Calculation of allowable number of
apply times (Cem)
Study of external shock torque (Tem)
at emergency stopTem
Momentary maximum allowable torque
Study of external shock torque (Tout) when the motor shaft speed is 0
Check the condition of the load torque applied to the reduction gear. A sample diagram is shown below.
Load cycle diagram
Rot
atio
n lo
ad to
rque
Spee
d
Max torque for startup
External shock torque
Constant torque
Max torque for stop
Shock apply timetemAcceleration
timeDeceleration
time
T1
T2
0
T3
Tem
Nem
t1 t2 t3
N2
N1 N3
Time
Tm =t1 · N1 · T1 + t2 · N2 · T2 + ··· tn · Nn · Tn
t1 · N1 + t2 · N2 + ··· tn · Nn
103
103
103
103
Nm = t1 · N1 + t2 · N2 + ··· tn · Nn t1 + t2 + ··· tn
Lh = 6000 x xNoNm
ToTm( ) 10
3
Cem =
60Nem
20 x x tem
1037 x To
Tem775 x ( )
NO
NO
NO
YES
YES
YES
YES
YES
YES
YES
YES
NO
Tout: Recommended value
Actual number of
times
Study of load moment(Mc)
Determination ofmodel number
END
Study of axial load(W2)
Check the condition of external load applied to the reduction gear.When the load moment and the axial load are applied concurrently, ensure that the reduction gear is used within the corresponding allowable moment range, which is indicated in the Allowable Moment Diagram.
Nm = = 71.4 rpm0.1 x 50 + 0.15 x 100 + 0.1 x 500.1 + 0.15 + 0.1
Selection example
Tm =
= 250 Nm0.1 x 50 + 0.15 x 100 + 0.1 x 50
103
103
103
1030.1 x 50 x 391 + 0.15 x 100 x 98 + 0.1 x 50 x 193
T1 = 391 Nm T2 = 98 Nm T3 = 193 Nm Tem = 2600 Nmt1 = 0.1 sec t2 = 0.15 sec t3 = 0.1 sec tem = 0.02 secN1 = N3 = 50 rpm N2 = 100 rpm Nem = 100 rpm
627 Nm < 1823 Nm
Allowable output speed of GH40(during continuous operation)
Allowable startup/stop torque of GH40
Momentary maximum allowable torque of GH40
Lh = 6000 x x = 18818 Hr
18818 > 10000
5071.4 ( )392
250
103
Required life rating
Rated torque of GH40
Mc = (198.1 + 200)
1350 x + 900 x1000
1001000
( )Cem = = 1391 times
1006020 x x 0.02
1037 x 392
2600775 x
NO
NO
NO
• External load condition W1 = 1350 N L1 = 200 mm W2 = 900 N L2 = 100 mm
• Determine thrust load 900 N < 2940 N
• Verify load moment (flange type)
• GH40 is finally selected (all conditions are satisfied).
(2) Determine main bearing capacity
• Determine torque at emergency stop or external shock Tem = 2600 Nm < 2744 Nm
• Determine torque for startup/stop Tmax = T1 = 391 Nm < 1176 Nm
= 627 Nm
Allowable axial load of GH40
150 times < 1391 times
Actual number of apply times
Allowable moment of GH40
• Determine maximum output speed 100 rpm < 150 rpm
Allowable output speed of GH40
• Select tentative frame number According to the Tm and Nm values, select GH40 tentatively. 250 Nm < 392 Nm 71.4 rpm < 150 rpm
• Calculate life rating
• Determine average output speed
• Determine average load torque
• Selection condition
(1) Determine load characteristics
Maximum output speed
Allowable output speed
W2
Momentary maximum allowable torque
NO
Tout
(Refer to page 04)
08 09
Cem
Allowable axial load (W)
Mc Allowable moment (Mo)
Select the reductiongear with the higher
model number.
Reduce the load.
Select the higher model number.Decrease the load.
Mc = { W1 x (α1 + L1) + W2 x L2 } x 10-3
Mc Mo
Select the lower model number.Decrease W2.
(2) Study of
main bearing capacity
Accelerationtime
Constantoperation
time
Decelerationtime
Selection Flow Chart
(1) Study of
load characteristics
Provisionally selectthe model number
from the Rating Table.
Calculation of life rating(Lh)
Calculation of average load torque (Tm)Calculation of average output speed (Nm)
Lh Required life rating
Study of maximum output speed
Study of acceleration/deceleration torque (T1/T3) T1 or T3
Allowable acceleration/deceleration torque
Calculation of allowable number of
apply times (Cem)
Study of external shock torque (Tem)
at emergency stopTem
Momentary maximum allowable torque
Study of external shock torque (Tout) when the motor shaft speed is 0
Check the condition of the load torque applied to the reduction gear. A sample diagram is shown below.
Load cycle diagram
Rot
atio
n lo
ad to
rque
Spee
d
Max torque for startup
External shock torque
Constant torque
Max torque for stop
Shock apply timetemAcceleration
timeDeceleration
time
T1
T2
0
T3
Tem
Nem
t1 t2 t3
N2
N1 N3
Time
Tm =t1 · N1 · T1 + t2 · N2 · T2 + ··· tn · Nn · Tn
t1 · N1 + t2 · N2 + ··· tn · Nn
103
103
103
103
Nm = t1 · N1 + t2 · N2 + ··· tn · Nn t1 + t2 + ··· tn
Lh = 6000 x xNoNm
ToTm( ) 10
3
Cem =
60Nem
20 x x tem
1037 x To
Tem775 x ( )
NO
NO
NO
YES
YES
YES
YES
YES
YES
YES
YES
NO
Tout: Recommended value
Actual number of
times
Study of load moment(Mc)
Determination ofmodel number
END
Study of axial load(W2)
Check the condition of external load applied to the reduction gear.When the load moment and the axial load are applied concurrently, ensure that the reduction gear is used within the corresponding allowable moment range, which is indicated in the Allowable Moment Diagram.
Nm = = 71.4 rpm0.1 x 50 + 0.15 x 100 + 0.1 x 500.1 + 0.15 + 0.1
Selection example
Tm =
= 250 Nm0.1 x 50 + 0.15 x 100 + 0.1 x 50
103
103
103
1030.1 x 50 x 391 + 0.15 x 100 x 98 + 0.1 x 50 x 193
T1 = 391 Nm T2 = 98 Nm T3 = 193 Nm Tem = 2600 Nmt1 = 0.1 sec t2 = 0.15 sec t3 = 0.1 sec tem = 0.02 secN1 = N3 = 50 rpm N2 = 100 rpm Nem = 100 rpm
627 Nm < 1823 Nm
Allowable output speed of GH40(during continuous operation)
Allowable startup/stop torque of GH40
Momentary maximum allowable torque of GH40
Lh = 6000 x x = 18818 Hr
18818 > 10000
5071.4 ( )392
250
103
Required life rating
Rated torque of GH40
Mc = (198.1 + 200)
1350 x + 900 x1000
1001000
( )Cem = = 1391 times
1006020 x x 0.02
1037 x 392
2600775 x
NO
NO
NO
• External load condition W1 = 1350 N L1 = 200 mm W2 = 900 N L2 = 100 mm
• Determine thrust load 900 N < 2940 N
• Verify load moment (flange type)
• GH40 is finally selected (all conditions are satisfied).
(2) Determine main bearing capacity
• Determine torque at emergency stop or external shock Tem = 2600 Nm < 2744 Nm
• Determine torque for startup/stop Tmax = T1 = 391 Nm < 1176 Nm
= 627 Nm
Allowable axial load of GH40
150 times < 1391 times
Actual number of apply times
Allowable moment of GH40
• Determine maximum output speed 100 rpm < 150 rpm
Allowable output speed of GH40
• Select tentative frame number According to the Tm and Nm values, select GH40 tentatively. 250 Nm < 392 Nm 71.4 rpm < 150 rpm
• Calculate life rating
• Determine average output speed
• Determine average load torque
• Selection condition
(1) Determine load characteristics
Maximum output speed
Allowable output speed
W2
Momentary maximum allowable torque
NO
Tout
(Refer to page 04)
08 09
Cem
Allowable axial load (W)
Mc Allowable moment (Mo)
Select the reductiongear with the higher
model number.
Reduce the load.
Select the higher model number.Decrease the load.
Mc = { W1 x (α1 + L1) + W2 x L2 } x 10-3
Mc Mo
Select the lower model number.Decrease W2.
(2) Study of
main bearing capacity
Accelerationtime
Constantoperation
time
Decelerationtime
Performance
No-load running torque
Output shaft configuration
Input shaft equivalentno-load running torque
(Nm)
=
Input shaft equivalentno-load running torque (Nm)
Speed ratio
Case temperature: 20˚CLubricant: Grease (Molywhite RE00)
The no-load running torque that is converted to the input shaft side value should be figured out according to the following equation:
50 100 150 2000
50
100
140
150
40
90
130
30
80
120
20
70
110
10
60
250
Inpu
t sha
ft eq
uiva
lent
no-
load
runn
ing
torq
ue (N
m)
Output shaft speed (rpm)
GH100
GH40
GH24
GH17
GH7
Model Code
When ordering or making an inquiry, use the following model code.
Selection of model code
1. Only 21 and 31 can be used as the ratio code of the GH100.2. Only the flange type output shaft is available for the GH100.3. Select the model code according to the attached Quick Selection Table of Model Code.4. When you use a servomotor not listed in the Quick Selection Table of Model Code, select the parts compatible with the servomotor from among the input spline sets and motor flanges (standard/semi-processed product) that we provide (refer to pages 17 to 25).5. For the customized specifications, contact us.
(1) Model code
7
17
24
40
100
(2) Ratio code
11
21
31
(3) Input spline code
A to ZZ
Y1
Y2
Z
A to ZZ
Y1
Z
(4)Motor flange code
7
Output shaft typecode
Flange
Shaft
P
S
P21 A B
Stan
dard
Blan
kNo
ne
Stan
dard
Blan
kNo
ne
GH
Motor flange
Input spline set
Reduction gear body
Output flange type Output shaft type10 11
Performance
No-load running torque
Output shaft configuration
Input shaft equivalentno-load running torque
(Nm)
=
Input shaft equivalentno-load running torque (Nm)
Speed ratio
Case temperature: 20˚CLubricant: Grease (Molywhite RE00)
The no-load running torque that is converted to the input shaft side value should be figured out according to the following equation:
50 100 150 2000
50
100
140
150
40
90
130
30
80
120
20
70
110
10
60
250
Inpu
t sha
ft eq
uiva
lent
no-
load
runn
ing
torq
ue (N
m)
Output shaft speed (rpm)
GH100
GH40
GH24
GH17
GH7
Model Code
When ordering or making an inquiry, use the following model code.
Selection of model code
1. Only 21 and 31 can be used as the ratio code of the GH100.2. Only the flange type output shaft is available for the GH100.3. Select the model code according to the attached Quick Selection Table of Model Code.4. When you use a servomotor not listed in the Quick Selection Table of Model Code, select the parts compatible with the servomotor from among the input spline sets and motor flanges (standard/semi-processed product) that we provide (refer to pages 17 to 25).5. For the customized specifications, contact us.
(1) Model code
7
17
24
40
100
(2) Ratio code
11
21
31
(3) Input spline code
A to ZZ
Y1
Y2
Z
A to ZZ
Y1
Z
(4)Motor flange code
7
Output shaft typecode
Flange
Shaft
P
S
P21 A B
Stan
dard
Blan
kNo
ne
Stan
dard
Blan
kNo
ne
GH
Motor flange
Input spline set
Reduction gear body
Output flange type Output shaft type10 11
100
122
106
158
202
+4.6 - 0.7
+6.3 -1.0
+3.7 -0.4
+3.0 -1.1
+2.5 -1.0
● Check the thickness of the motor flange according to the following equation:
Thickness of motor flange D = (A + LR - L) - LL
GH7
GH17
GH24
GH40
GH100
ModelCode
LLInput Spline Insertion
Amount (mm)
Motor flange
Input spline
L (Input spline hole depth)
LR (Motor shaft length)
Model Code Selection (Precautions)
16 17
External Dimension Drawing Reduction Gear
1. Select the model code that is compatible with the servomotor being used according to the Quick Selection Table of Model Code.
2. If a compatible servomotor is not listed in the Quick Selection Table of Model Code, select a part that is compatible with the servomotor according to the external dimension drawings for the input spline set and motor flange attached on the following pages.
GH100
DLL (Insertion amount)
Motor mounting edge
Reduction gear
Motor mounting edge
LL (Insertion amount)
A (Total length of input spline)
L
LR
Note: Calculate the LR of the 1/10 taper shaft with the dimension excluding the threaded portion at the shaft tip.
GH100
Combination of reduction gear and servomotor
1. The combinations that satisfy the following equation are recommended. (Rated torque of motor x 0.5) < {Rated torque of reduction gear/(Speed ratio x 0.8)} < (Rated torque of motor x 1.5) 2. Select the combinations that satisfy the following equation. (Maximum torque of motor) < {Momentary maximum torque of reduction gear/(Speed ratio x 0.8)} 3. Limitation must be imposed to the motor torque when the condition indicated in 2 above cannot be satisfied. 4. For more precise motor selection, the effective torque, load inertia moment, brake torque, regenerative ability, and so forth, must also be considered.
18 19
For straight shaft without key
For 1/10 taper
External Dimension Drawing Input Spline Set
ØC ØB
The shape of the part shown here is only a representation. For this reason, the actual shape may differ from the drawing shown here.
The part numbers attached with ✽ at the end are our revised numbers. These are subject to change without advance notice.
Model
GH24
GH40
GH100
Code
AH
AL
AM
AN
AP
S
A
B
C
D
K
M
N
U
W
AD
AF
AL
AM
AN
A
C
D
E
F
30S421AH*30S421AL*30S421AM*30S421AN*30S421AP*40S421-*40S421A*40S421B*40S421C*40S421D*40S421K*40S421M*40S421N*40S421U*40S421W*40S421AD*40S421AF*40S421AL*40S421AM*40S421AN*60S421A*60S421C*60S421D*60S421E*60S421F*
A
138
174
174
129
137
163
176
176
163
177
175
176
177
211
171
175
175
175
176
177
216
216
216
216
216
ØB
63
68
68
63
63
68
68
68
68
68
68
68
68
70
68
68
68
70
68
68
77
75
77
77
75
22
35
35
19
28
22
24
28
35
35
32
24
35
42
28
32
32
32
28
35
42
35
42
42
35
+0.0210
+0.035+0.010+0.035+0.010+0.021
0+0.021
0+0.021
0+0.021
0+0.021
0+0.025
0+0.035+0.010+0.025
0+0.021
0+0.035+0.010+0.025
0+0.021
0+0.016
0+0.025
0+0.025
0+0.021
0+0.035+0.010+0.025
0+0.035+0.010+0.025
0+0.025
0+0.035+0.010
L
31
64
59
37
45
38
48
58
38
73
32
58
63
79
51
34
42
57
48
58
102
68
74
68
53
ØCInput Spline Dimension (mm)Parts No.
Model
GH7
GH17
GH24
Code
S
A
B
D
M
N
Q
R
T
U
AF
AY
AZ
BA
BB
S
B
C
E
P
Q
T
W
AB
AC
AF
AL
AQ
AR
AS
S
A
D
E
G
H
Q
T
U
W
AA
AB
10S421-*10S421A*10S421B*10S421D*10S421M*10S421N*10S421Q*10S421R*10S421T*10S421U*10S421AF*10S421AY*10S421AZ*10S421BA*10S421BB*20S421-*20S421B*20S421C*20S421E*20S421P*20S421Q*20S421T*20S421W*20S421AB*20S421AC*20S421AF*20S421AL*20S421AQ*20S421AR*20S421AS*30S421-*30S421A*30S421D*30S421E*30S421G*30S421H*30S421Q*30S421T*30S421U*30S421W*30S421AA*30S431AB*
A
124
124
124
123
126
120
144
114
124
124
117
122
117
123
123
137
137
124
124
128
134
124
176
134
132
176
124
132
130
131
142
129
174
129
129
142
174
137
139
129
159
126
ØB
53
53
53
53
53
53
63
53
53
48
53
53
53
53
53
63
63
63
63
63
63
63
68
63
63
68
63
63
63
63
63
63
63
63
63
63
68
63
63
63
68
63
11
14
16
22
19
22
24
19
16
14
19
22
10
22
22
14
24
25
22
19
19
19
35
24
28
35
19
22
24
16
24
22
28
28
28
28
35
28
24
19
32
24
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
L
24
29
29
48
31
60
49
39
34
24
33
47
19
31
38
30
50
40
40
32
32
40
73
37
53
59
37
30
43
29
50
40
74
60
50
74
74
53
57
50
33
47
ØCInput Spline Dimension (mm)Parts No.
A
L
+0.0180
+0.0180
+0.0180
+0.0210
+0.0210
+0.0210
+0.0210
+0.0210
+0.0180
+0.0180
+0.0210
+0.0210
+0.0150
+0.0210
+0.0210
+0.0180
+0.0210
+0.0210
+0.0210
+0.0210
+0.0210
+0.0210
+0.035+0.010+0.021
0+0.021
0+0.035+0.010+0.021
0+0.021
0+0.021 0+0.018
0+0.021
0+0.021
0+0.021
0+0.021
0+0.021
0+0.021
0+0.035+0.010+0.021
0+0.021
0+0.021
0+0.025
0+0.021
0
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H6
H7
H7
H7
H7
H7
H7
Model
GH7
GH17
GH24
GH40
ØC Input Spline Dimension (mm)Parts No.Code
G
H
X
AB
AR
AS
F
R
F
K
L
E
H
X
10S422G*10S422H*10S422X*10S422AB*10S422AR*10S422AS*20S422F*20S422R*30S422F*30S422K*30S422L*40S422E*40S422H*40S422X*
A
86
112
106
116
130
106
104
124
129
145
105
165
149
248
ØB
28
28
28
28
32
28
38
38
36
42
36
45
45
72
11
16
14
11
22
14
16
16
16
30.8
16
16
30.8
55
+0.10
+0.10
+0.10
+0.10
+0.10
+0.10
+0.10
+0.10
+0.10
+0.10
+0.10
+0.10
+0.10
+0.10
L
15
28
18
15
36
18
28
28
28
46
28
28
46
82
E
4
5
5
4
6
4
5
5
5
7
5
5
7
10
F
7
9.5
8.65
7
12.9
8.25
9.5
9.5
9.5
17.75
9.5
9.5
17.75
29.85
Nom. Dia.
M6
M10
M8
M6
M12
M8
M10
M10
M10
M20
M10
M10
M20
M36
Pitch
P1.0
P1.25
P1.0
P1.0
P1.25
P1.0
P1.25
P1.25
P1.25
P1.5
P1.25
P1.25
P1.5
P3.0
Depth
9
13
13
9
15
13
13
13
13
23
13
13
23
30
A
F
L
E
Nominal diameter x Pitch Depth
Thread
ØC ØB
18 19
For straight shaft without key
For 1/10 taper
External Dimension Drawing Input Spline Set
ØC ØB
The shape of the part shown here is only a representation. For this reason, the actual shape may differ from the drawing shown here.
The part numbers attached with ✽ at the end are our revised numbers. These are subject to change without advance notice.
Model
GH24
GH40
GH100
Code
AH
AL
AM
AN
AP
S
A
B
C
D
K
M
N
U
W
AD
AF
AL
AM
AN
A
C
D
E
F
30S421AH*30S421AL*30S421AM*30S421AN*30S421AP*40S421-*40S421A*40S421B*40S421C*40S421D*40S421K*40S421M*40S421N*40S421U*40S421W*40S421AD*40S421AF*40S421AL*40S421AM*40S421AN*60S421A*60S421C*60S421D*60S421E*60S421F*
A
138
174
174
129
137
163
176
176
163
177
175
176
177
211
171
175
175
175
176
177
216
216
216
216
216
ØB
63
68
68
63
63
68
68
68
68
68
68
68
68
70
68
68
68
70
68
68
77
75
77
77
75
22
35
35
19
28
22
24
28
35
35
32
24
35
42
28
32
32
32
28
35
42
35
42
42
35
+0.0210
+0.035+0.010+0.035+0.010+0.021
0+0.021
0+0.021
0+0.021
0+0.021
0+0.025
0+0.035+0.010+0.025
0+0.021
0+0.035+0.010+0.025
0+0.021
0+0.016
0+0.025
0+0.025
0+0.021
0+0.035+0.010+0.025
0+0.035+0.010+0.025
0+0.025
0+0.035+0.010
L
31
64
59
37
45
38
48
58
38
73
32
58
63
79
51
34
42
57
48
58
102
68
74
68
53
ØCInput Spline Dimension (mm)Parts No.
Model
GH7
GH17
GH24
Code
S
A
B
D
M
N
Q
R
T
U
AF
AY
AZ
BA
BB
S
B
C
E
P
Q
T
W
AB
AC
AF
AL
AQ
AR
AS
S
A
D
E
G
H
Q
T
U
W
AA
AB
10S421-*10S421A*10S421B*10S421D*10S421M*10S421N*10S421Q*10S421R*10S421T*10S421U*10S421AF*10S421AY*10S421AZ*10S421BA*10S421BB*20S421-*20S421B*20S421C*20S421E*20S421P*20S421Q*20S421T*20S421W*20S421AB*20S421AC*20S421AF*20S421AL*20S421AQ*20S421AR*20S421AS*30S421-*30S421A*30S421D*30S421E*30S421G*30S421H*30S421Q*30S421T*30S421U*30S421W*30S421AA*30S431AB*
A
124
124
124
123
126
120
144
114
124
124
117
122
117
123
123
137
137
124
124
128
134
124
176
134
132
176
124
132
130
131
142
129
174
129
129
142
174
137
139
129
159
126
ØB
53
53
53
53
53
53
63
53
53
48
53
53
53
53
53
63
63
63
63
63
63
63
68
63
63
68
63
63
63
63
63
63
63
63
63
63
68
63
63
63
68
63
11
14
16
22
19
22
24
19
16
14
19
22
10
22
22
14
24
25
22
19
19
19
35
24
28
35
19
22
24
16
24
22
28
28
28
28
35
28
24
19
32
24
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
L
24
29
29
48
31
60
49
39
34
24
33
47
19
31
38
30
50
40
40
32
32
40
73
37
53
59
37
30
43
29
50
40
74
60
50
74
74
53
57
50
33
47
ØCInput Spline Dimension (mm)Parts No.
A
L
+0.0180
+0.0180
+0.0180
+0.0210
+0.0210
+0.0210
+0.0210
+0.0210
+0.0180
+0.0180
+0.0210
+0.0210
+0.0150
+0.0210
+0.0210
+0.0180
+0.0210
+0.0210
+0.0210
+0.0210
+0.0210
+0.0210
+0.035+0.010+0.021
0+0.021
0+0.035+0.010+0.021
0+0.021
0+0.021 0+0.018
0+0.021
0+0.021
0+0.021
0+0.021
0+0.021
0+0.021
0+0.035+0.010+0.021
0+0.021
0+0.021
0+0.025
0+0.021
0
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H6
H7
H7
H7
H7
H7
H7
Model
GH7
GH17
GH24
GH40
ØC Input Spline Dimension (mm)Parts No.Code
G
H
X
AB
AR
AS
F
R
F
K
L
E
H
X
10S422G*10S422H*10S422X*10S422AB*10S422AR*10S422AS*20S422F*20S422R*30S422F*30S422K*30S422L*40S422E*40S422H*40S422X*
A
86
112
106
116
130
106
104
124
129
145
105
165
149
248
ØB
28
28
28
28
32
28
38
38
36
42
36
45
45
72
11
16
14
11
22
14
16
16
16
30.8
16
16
30.8
55
+0.10
+0.10
+0.10
+0.10
+0.10
+0.10
+0.10
+0.10
+0.10
+0.10
+0.10
+0.10
+0.10
+0.10
L
15
28
18
15
36
18
28
28
28
46
28
28
46
82
E
4
5
5
4
6
4
5
5
5
7
5
5
7
10
F
7
9.5
8.65
7
12.9
8.25
9.5
9.5
9.5
17.75
9.5
9.5
17.75
29.85
Nom. Dia.
M6
M10
M8
M6
M12
M8
M10
M10
M10
M20
M10
M10
M20
M36
Pitch
P1.0
P1.25
P1.0
P1.0
P1.25
P1.0
P1.25
P1.25
P1.25
P1.5
P1.25
P1.25
P1.5
P3.0
Depth
9
13
13
9
15
13
13
13
13
23
13
13
23
30
A
F
L
E
Nominal diameter x Pitch Depth
Thread
ØC ØB
20 21
For straight shaft with key
For straight shaft with key (with draw bolt)
External Dimension Drawing Input Spline SetThe part numbers attached with ✽ at the end are our revised numbers. These are subject to change without advance notice.
For the GH100 input spline set, contact us.
The shape of the part shown here is only a representation. For this reason, the actual shape may differ from the drawing shown here.
Model
GH7
GH17
GH24GH40
ØC Input Spline Dimension (mm) Stud Bolt
L
34
29
29
39
29
39
38
39
Parts No.Code
E
F
AG
D
J
AJ
P
J
10S423E*10S423F*10S423AG*20S423D*20S423J*20S423AJ*30S423P*40S423J*
A
124
94
94
136
136
123
147.5
165.5
ØB
28
28
28
38
38
38
36
50
16
16
16
19
16
22
22
35
H7
H7
H7
H7
H7
H7
H7
H7
+0.0180
+0.0180
+0.0180
+0.0210
+0.0180
+0.0210
+0.0210
+0.0250
E
5
5
5
6
5
6
6
10
F
18.3
18.3
18.3
21.8
18.3
24.8
24.8
38.3
Nom. Dia.
M5
M5
M5
M6
M5
M5
M6
M6
G
12
10
10
12
12
11
12
13
A
ØC ØB F
L
E
A
ØC
ØB F
LG
E
Draw Bolt Nominal Size
Model
GH7
GH17
GH24
ØC Input Spline Dimension (mm)Code
CJWY
ACADAHAKAMANAPAQATAUAWAXGKNXY
ADAAAEAKAPATAUAXAYBJMXY
ADAEAFAG
10S423C*10S423J*10S423W*10S423Y*10S423AC*10S423AD*10S423AH*10S423AK*10S423AM*10S423AN*10S423AP*10S423AQ*10S423AT*10S423AU*10S423AW*10S423AX*20S423G*20S423K*20S423N*20S423X*20S423Y*20S421AD*20S423AA*20S423AE*20S423AK*20S423AP*20S423AT*20S423AU*20S423AX*20S423AY*30S423B*30S423J*30S423M*30S423X*30S423Y*30S423AD*30S423AE*30S423AF*30S423AG*
A
124125125112120133112134134133125119124113124117137137172170163130130123123137136135136123159159111122154160159156129
ØB
282832282836323238363228323228283838504550383838383840383838504236424250504442
141619141422171924221914171611102219352835222417191922191619352822242828322822
H7H7G7H7H7H7H7H7H7H7H7H7H7H7H7H7H7H7
H7
H7H7H7H7H7H7H7H7H7
H7H7H7H7H7H7H7H7
+0.0180
+0.0180
+0.028+0.007+0.018
0+0.018
0+0.021
0+0.018
0+0.021
0+0.021
0+0.021
0+0.021
0+0.018
0+0.018
0+0.018
0+0.018
0+0.015
0+0.021
0+0.021
0+0.035+0.010+0.021
0+0.035+0.010+0.021
0+0.021
0+0.018
0+0.021
0+0.021
0+0.021
0+0.021
0+0.018
0+0.021
0+0.035+0.010+0.021
0+0.021
0+0.021
0+0.021
0+0.021
0+0.025
0+0.021
0+0.021
0
L
293535284541293939283019492824195040694346333728364049332939584838373738585350
E
556556568665554365
108
10885666655
1088888
1088
F
16.318.321.816.316.324.819.321.827.324.821.816.319.318.312.811.424.821.338.331.338.325.327.319.321.821.824.821.818.321.338.331.325.327.331.331.335.331.325.3
Parts No.
Model
GH40
ØC Input Spline Dimension (mm)Code
FGLPRTY
AAABACAEAGAJAK
40S423F*40S423G*40S423L*40S423P*40S423R*40S423T*40S423Y*40S423AA*40S423AB*40S423AC*40S423AE*40S423AG*40S423AJ*40S423AK*
A
176194225169169225187173172176173172194200
ØB
4552604545755045505050505060
2835422828553522282824283242
H7
H7H7H7H7H7H7H7G7H7H7H7H7
+0.0210
+0.035+0.010+0.025
0+0.021
0+0.021
0+0.030
0+0.025
0+0.021
0+0.021
0+0.028+0.007+0.021
0+0.021
0+0.025
0+0.025
0
L
4858934949565935385855385868
E
81012
8101610
810
888
1012
F
31.338.345.331.331.359.338.325.331.331.327.331.335.345.3
Parts No.
20 21
For straight shaft with key
For straight shaft with key (with draw bolt)
External Dimension Drawing Input Spline SetThe part numbers attached with ✽ at the end are our revised numbers. These are subject to change without advance notice.
For the GH100 input spline set, contact us.
The shape of the part shown here is only a representation. For this reason, the actual shape may differ from the drawing shown here.
Model
GH7
GH17
GH24GH40
ØC Input Spline Dimension (mm) Stud Bolt
L
34
29
29
39
29
39
38
39
Parts No.Code
E
F
AG
D
J
AJ
P
J
10S423E*10S423F*10S423AG*20S423D*20S423J*20S423AJ*30S423P*40S423J*
A
124
94
94
136
136
123
147.5
165.5
ØB
28
28
28
38
38
38
36
50
16
16
16
19
16
22
22
35
H7
H7
H7
H7
H7
H7
H7
H7
+0.0180
+0.0180
+0.0180
+0.0210
+0.0180
+0.0210
+0.0210
+0.0250
E
5
5
5
6
5
6
6
10
F
18.3
18.3
18.3
21.8
18.3
24.8
24.8
38.3
Nom. Dia.
M5
M5
M5
M6
M5
M5
M6
M6
G
12
10
10
12
12
11
12
13
A
ØC ØB F
L
E
A
ØC
ØB F
LG
E
Draw Bolt Nominal Size
Model
GH7
GH17
GH24
ØC Input Spline Dimension (mm)Code
CJWY
ACADAHAKAMANAPAQATAUAWAXGKNXY
ADAAAEAKAPATAUAXAYBJMXY
ADAEAFAG
10S423C*10S423J*10S423W*10S423Y*10S423AC*10S423AD*10S423AH*10S423AK*10S423AM*10S423AN*10S423AP*10S423AQ*10S423AT*10S423AU*10S423AW*10S423AX*20S423G*20S423K*20S423N*20S423X*20S423Y*20S421AD*20S423AA*20S423AE*20S423AK*20S423AP*20S423AT*20S423AU*20S423AX*20S423AY*30S423B*30S423J*30S423M*30S423X*30S423Y*30S423AD*30S423AE*30S423AF*30S423AG*
A
124125125112120133112134134133125119124113124117137137172170163130130123123137136135136123159159111122154160159156129
ØB
282832282836323238363228323228283838504550383838383840383838504236424250504442
141619141422171924221914171611102219352835222417191922191619352822242828322822
H7H7G7H7H7H7H7H7H7H7H7H7H7H7H7H7H7H7
H7
H7H7H7H7H7H7H7H7H7
H7H7H7H7H7H7H7H7
+0.0180
+0.0180
+0.028+0.007+0.018
0+0.018
0+0.021
0+0.018
0+0.021
0+0.021
0+0.021
0+0.021
0+0.018
0+0.018
0+0.018
0+0.018
0+0.015
0+0.021
0+0.021
0+0.035+0.010+0.021
0+0.035+0.010+0.021
0+0.021
0+0.018
0+0.021
0+0.021
0+0.021
0+0.021
0+0.018
0+0.021
0+0.035+0.010+0.021
0+0.021
0+0.021
0+0.021
0+0.021
0+0.025
0+0.021
0+0.021
0
L
293535284541293939283019492824195040694346333728364049332939584838373738585350
E
556556568665554365
108
10885666655
1088888
1088
F
16.318.321.816.316.324.819.321.827.324.821.816.319.318.312.811.424.821.338.331.338.325.327.319.321.821.824.821.818.321.338.331.325.327.331.331.335.331.325.3
Parts No.
Model
GH40
ØC Input Spline Dimension (mm)Code
FGLPRTY
AAABACAEAGAJAK
40S423F*40S423G*40S423L*40S423P*40S423R*40S423T*40S423Y*40S423AA*40S423AB*40S423AC*40S423AE*40S423AG*40S423AJ*40S423AK*
A
176194225169169225187173172176173172194200
ØB
4552604545755045505050505060
2835422828553522282824283242
H7
H7H7H7H7H7H7H7G7H7H7H7H7
+0.0210
+0.035+0.010+0.025
0+0.021
0+0.021
0+0.030
0+0.025
0+0.021
0+0.021
0+0.028+0.007+0.021
0+0.021
0+0.025
0+0.025
0
L
4858934949565935385855385868
E
81012
8101610
810
888
1012
F
31.338.345.331.331.359.338.325.331.331.327.331.335.345.3
Parts No.
Square type(30S)
22 23
Circle type Square type
External Dimension Drawing Motor Flange
B
174
180
200
220
220
220
Model
GH7
GH17
GH24
GH40 /GH100
CMotor Flange Dimension (mm) Parts No.Code
S
D
G
H
J
N
Q
X
AE
S
A
B
F
K
L
U
W
N
S
E
G
H
M
T
W
10S203-*10S203D*10S203G*10S203H*10S203J*10S203N*10S203Q*10S203X*10S203AE*20S203-*20S203A*20S203B*20S203F*20S203K*20S203L*20S203U*20S203W*30S203N*40S203-*40S203E*40S203G*40S203H*40S203M*40S203T*40S203W*
ØA
135
135
135
135
135
135
135
135
135
170
190
170
170
190
170
170
170
170
230
230
230
230
230
230
230
35
35
35
35
35
55
35
55
25
25
25
25
25
25
65
40
25
65
30
30
30
48
62
92
58
0-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.035
D
30
30
30
30
30
50
30
50
20
20
20
20
20
20
60
35
20
60
25
25
25
43
57
87
53
ØE
72
72
60
60
60
72
60
72
70
100
100
72
80
100
100
100
70
100
100
100
100
100
100
100
100
80
80
80
80
80
80
80
80
80
110
110
110
110
110
110
110
110
110
114.3
114.3
114.3
114.3
114.3
114.3
114.3
ØF
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
+0.0350
+0.0300
+0.0250
+0.0300
+0.0250
+0.0300
+0.0300
+0.0350
+0.0300
+0.0350
+0.0400
+0.0300
+0.0350
+0.0350
+0.0350
+0.0350
+0.0350
+0.0350
+0.0350
+0.0350
+0.0400
+0.0350
+0.0350
+0.0350
+0.0350
95
80
50
70
50
80
70
95
80
110
130
80
95
115
110
110
95
110
110
114.3
130
114.3
114.3
114.3
114.3
ØL
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
ØG
115
115
115
115
115
115
115
115
115
145
150
145
145
150
145
145
145
145
200
200
200
200
200
200
200
ØH
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
13.5
13.5
13.5
13.5
13.5
13.5
13.5
ØJ
14
14
14
14
14
14
14
14
14
14
14
14
14
14
14
14
14
14
20
20
20
20
20
20
20
K
10
9
9
9
9
9
9
10
9
10
10
10
10
10
10
10
10
8
5
5
7
5
5
5
5
M
10
10
5
10
5
12
10
10
10
10
10
10
10
10
10
10
10
10
7
12
10
12
12
12
12
ØN
115
100
70
90
70
100
90
115
100
145
165
100
115
165
145
145
115
145
145
200
165
200
200
200
200
P
M8
M6
M4
M6
M5
M6
M5
M8
M6
M8
M10
M6
M8
M8
M8
M8
M6
M8
M8
M12
M10
M12
M12
M12
M12
Q
20
15
10
15
10
15
15
20
15
-
-
12
-
-
20
20
12
15
20
-
-
22
25
22
22
R˚
45˚
45˚
45˚
45˚
45˚
45˚
45˚
45˚
60˚
30˚
45˚
45˚
30˚
45˚
30˚
30˚
30˚
45˚
0˚
45˚
0˚
45˚
45˚
45˚
45˚
D
ØL
ØA
ØN
ØG
R˚
(Flange mounting hole)4-ØH ØJ spot facing
(Flange mounting hole)4-ØH ØJ spot facing
Tap hole for hang-up M8 x 14
Tap hole for hang-upM8 x 14
(Motor mounting tap hole)4-Nominal P x Depth Q
C
K
M
ØF
ØE
Circle type (30S)
Circle type Circle type (30S) Square type
D
M
ØL
B B
C
Motor Mounting Dimension (mm)Reduction Gear Mounting Dimension (mm)
Model
GH24
C Parts No.Code
L
M
Q
R
30S203L*30S203M*30S203Q*30S203R*
ØA
170
170
170
170
33
33
33
33
0-0.0350
-0.0350
-0.0350
-0.035
D
28
28
28
28
ØE
70
80
70
70
110
110
110
110
ØF
h7
h7
h7
h7
+0.0350
+0.0350
+0.0300
+0.0350
110
95
80
95
ØL
H7
H7
H7
H7
ØG
138
138
138
138
ØH
9
9
9
9
ØJ
14
14
14
14
K
8
8
10
8
M
8
8
10
10
ØN
145
115
100
115
P
M8
M8
M6
M6
Q
20
17
12
12
R˚
45˚
45˚
45˚
45˚
Motor Mounting Dimension (mm)Reduction Gear Mounting Dimension (mm)
Model
GH7
GH17
GH24
GH40 /GH100
Motor Flange Dimension (mm)Parts No.Code
A
B
C
E
F
K
L
M
P
W
C
D
E
G
H
B
A
B
C
D
F
K
L
N
X
10S203A*10S203B*10S203C*10S203E*10S203F*10S203K*10S203L*10S203M*10S203P*10S203W*20S203C*20S203D*20S203E*20S203G*20S203H*30S203B*40S203A*40S203B*40S203C*40S203D*40S203F*40S203K*40S203L*40S203N*40S203X*
ØA
165
215
190
155
165
230
230
190
230
190
230
230
270
270
270
165
250
270
270
300
270
270
250
330
250
B
130
165
150
120
130
180
180
150
180
150
180
180
220
220
220
130
200
220
220
250
220
220
200
265
200
C
35
35
35
35
55
55
70
55
35
35
25
65
25
65
45
46
30
30
48
30
30
95
64
117
30
0-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.035
D
30
30
30
30
50
50
65
50
30
30
20
60
20
60
40
41
25
25
43
25
25
90
59
112
25
ØE
72
72
72
72
72
72
72
72
72
72
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
80
80
80
80
80
80
80
80
80
80
110
110
110
110
110
110
114.3
114.3
114.3
114.3
114.3
114.3
114.3
114.3
114.3
ØF
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
+0.0350
+0.0400
+0.0400
+0.0350
+0.0350
+0.0350
+0.0350
+0.0400
+0.0350
+0.0350
+0.0350
+0.0350
+0.0460
+0.0460
+0.0460
+0.0350
+0.0400
+0.0460
+0.0460
+0.0460
+0.0460
+0.0460
+0.0400
+0.0460
+0.0400
110
150
130
110
110
114.3
114.3
130
114.3
115
114.3
114.3
200
200
200
110
180
200
200
230
200
200
180
250
180
ØL
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
ØG
95
95
95
95
95
95
95
95
95
95
145
145
145
145
145
145
150
150
150
150
150
150
150
150
150
ØH
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
13.5
13.5
13.5
13.5
13.5
13.5
13.5
13.5
13.5
ØJ
14
14
14
14
14
14
14
14
14
14
14
14
14
14
14
14
20
20
20
20
20
20
20
20
20
K
10
9
9
9
10
10
10
10
10
9
10
10
5
10
10
8
5
5
5
5
5
5
5
5
5
M
11
10
11
10
11
12
12
12
12
11
10
10
7
10
10
10
7
7
10
7
7
10
12
10
7
ØN
145
185
165
130
145
200
200
165
200
165
200
200
235
235
235
145
215
235
235
265
250
235
215
300
215
P
M8
M10
M10
M8
M8
M12
M12
M10
M12
M8
M12
M12
M12
M12
M12
M8
M12
M12
M12
M12
M8
M12
M12
M16
M14
Q
20
-
-
20
20
20
20
20
-
-
-
20
-
20
20
13
-
-
25
-
20
25
15
25
-
Square type (30S)
Motor Mounting Dimension (mm)Reduction Gear Mounting Dimension (mm)
Model
GH24
Motor Flange Dimension (mm) Parts No.Code
S
C
D
E
F
H
30S203-*30S203C*30S203D*30S203E*30S203F*30S203H*
ØA
230
230
250
270
270
270
C
78
46
33
33
65
65
0-0.035
0-0.0350
-0.0350
-0.0350
-0.0350
-0.035
D
73
41
28
28
60
60
ØE
100
100
100
100
95
95
110
110
110
110
110
110
ØF
h7
h7
h7
h7
h7
h7
+0.0350
+0.0350
+0.0400
+0.0460
+0.0460
+0.0460
114.3
114.3
180
200
200
200
ØL
H7
H7
H7
H7
H7
H7
ØG
138
138
138
138
138
138
ØH
9
9
9
9
9
9
ØJ
-
14
14
14
14
14
K
9
9
10
10
9
9
M
10
6
8
8
10
10
ØN
200
138
200
215
235
235
250
P
M12
M14
M12
M12
M12
M12
M8
Q
13
13
13
-
-
20
20
Motor Mounting Dimension (mm)Reduction Gear Mounting Dimension (mm)
D
ØL
ØAØN
ØG
R˚(Motor mounting tap hole)4-Nominal P x Depth Q
(Motor mounting tap hole)4-Nominal P x Depth Q
(Motor mounting tap hole)4-Nominal P x Depth Q
(Flange mounting hole)6-Ø, depth QC
K
M
ØF
ØE Ø
FØ
E
K
M
ØL
ØF
ØE
K
(Flange mounting hole)6-ØH ØJ spot facing
ØAØN
ØG
ØAØN
ØG
Motor Flange Dimension (mm)
The shape of the part shown here is only a representation. For this reason, the actual shape may differ from the drawing shown here.
The part numbers attached with ✽ at the end are our revised numbers. These are subject to change without advance notice.
D
C
Square type(30S)
22 23
Circle type Square type
External Dimension Drawing Motor Flange
B
174
180
200
220
220
220
Model
GH7
GH17
GH24
GH40 /GH100
CMotor Flange Dimension (mm) Parts No.Code
S
D
G
H
J
N
Q
X
AE
S
A
B
F
K
L
U
W
N
S
E
G
H
M
T
W
10S203-*10S203D*10S203G*10S203H*10S203J*10S203N*10S203Q*10S203X*10S203AE*20S203-*20S203A*20S203B*20S203F*20S203K*20S203L*20S203U*20S203W*30S203N*40S203-*40S203E*40S203G*40S203H*40S203M*40S203T*40S203W*
ØA
135
135
135
135
135
135
135
135
135
170
190
170
170
190
170
170
170
170
230
230
230
230
230
230
230
35
35
35
35
35
55
35
55
25
25
25
25
25
25
65
40
25
65
30
30
30
48
62
92
58
0-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.035
D
30
30
30
30
30
50
30
50
20
20
20
20
20
20
60
35
20
60
25
25
25
43
57
87
53
ØE
72
72
60
60
60
72
60
72
70
100
100
72
80
100
100
100
70
100
100
100
100
100
100
100
100
80
80
80
80
80
80
80
80
80
110
110
110
110
110
110
110
110
110
114.3
114.3
114.3
114.3
114.3
114.3
114.3
ØF
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
+0.0350
+0.0300
+0.0250
+0.0300
+0.0250
+0.0300
+0.0300
+0.0350
+0.0300
+0.0350
+0.0400
+0.0300
+0.0350
+0.0350
+0.0350
+0.0350
+0.0350
+0.0350
+0.0350
+0.0350
+0.0400
+0.0350
+0.0350
+0.0350
+0.0350
95
80
50
70
50
80
70
95
80
110
130
80
95
115
110
110
95
110
110
114.3
130
114.3
114.3
114.3
114.3
ØL
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
ØG
115
115
115
115
115
115
115
115
115
145
150
145
145
150
145
145
145
145
200
200
200
200
200
200
200
ØH
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
13.5
13.5
13.5
13.5
13.5
13.5
13.5
ØJ
14
14
14
14
14
14
14
14
14
14
14
14
14
14
14
14
14
14
20
20
20
20
20
20
20
K
10
9
9
9
9
9
9
10
9
10
10
10
10
10
10
10
10
8
5
5
7
5
5
5
5
M
10
10
5
10
5
12
10
10
10
10
10
10
10
10
10
10
10
10
7
12
10
12
12
12
12
ØN
115
100
70
90
70
100
90
115
100
145
165
100
115
165
145
145
115
145
145
200
165
200
200
200
200
P
M8
M6
M4
M6
M5
M6
M5
M8
M6
M8
M10
M6
M8
M8
M8
M8
M6
M8
M8
M12
M10
M12
M12
M12
M12
Q
20
15
10
15
10
15
15
20
15
-
-
12
-
-
20
20
12
15
20
-
-
22
25
22
22
R˚
45˚
45˚
45˚
45˚
45˚
45˚
45˚
45˚
60˚
30˚
45˚
45˚
30˚
45˚
30˚
30˚
30˚
45˚
0˚
45˚
0˚
45˚
45˚
45˚
45˚
D
ØL
ØA
ØN
ØG
R˚
(Flange mounting hole)4-ØH ØJ spot facing
(Flange mounting hole)4-ØH ØJ spot facing
Tap hole for hang-up M8 x 14
Tap hole for hang-upM8 x 14
(Motor mounting tap hole)4-Nominal P x Depth Q
C
K
M
ØF
ØE
Circle type (30S)
Circle type Circle type (30S) Square type
D
M
ØL
B B
C
Motor Mounting Dimension (mm)Reduction Gear Mounting Dimension (mm)
Model
GH24
C Parts No.Code
L
M
Q
R
30S203L*30S203M*30S203Q*30S203R*
ØA
170
170
170
170
33
33
33
33
0-0.0350
-0.0350
-0.0350
-0.035
D
28
28
28
28
ØE
70
80
70
70
110
110
110
110
ØF
h7
h7
h7
h7
+0.0350
+0.0350
+0.0300
+0.0350
110
95
80
95
ØL
H7
H7
H7
H7
ØG
138
138
138
138
ØH
9
9
9
9
ØJ
14
14
14
14
K
8
8
10
8
M
8
8
10
10
ØN
145
115
100
115
P
M8
M8
M6
M6
Q
20
17
12
12
R˚
45˚
45˚
45˚
45˚
Motor Mounting Dimension (mm)Reduction Gear Mounting Dimension (mm)
Model
GH7
GH17
GH24
GH40 /GH100
Motor Flange Dimension (mm)Parts No.Code
A
B
C
E
F
K
L
M
P
W
C
D
E
G
H
B
A
B
C
D
F
K
L
N
X
10S203A*10S203B*10S203C*10S203E*10S203F*10S203K*10S203L*10S203M*10S203P*10S203W*20S203C*20S203D*20S203E*20S203G*20S203H*30S203B*40S203A*40S203B*40S203C*40S203D*40S203F*40S203K*40S203L*40S203N*40S203X*
ØA
165
215
190
155
165
230
230
190
230
190
230
230
270
270
270
165
250
270
270
300
270
270
250
330
250
B
130
165
150
120
130
180
180
150
180
150
180
180
220
220
220
130
200
220
220
250
220
220
200
265
200
C
35
35
35
35
55
55
70
55
35
35
25
65
25
65
45
46
30
30
48
30
30
95
64
117
30
0-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0300
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.0350
-0.035
D
30
30
30
30
50
50
65
50
30
30
20
60
20
60
40
41
25
25
43
25
25
90
59
112
25
ØE
72
72
72
72
72
72
72
72
72
72
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
80
80
80
80
80
80
80
80
80
80
110
110
110
110
110
110
114.3
114.3
114.3
114.3
114.3
114.3
114.3
114.3
114.3
ØF
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
h7
+0.0350
+0.0400
+0.0400
+0.0350
+0.0350
+0.0350
+0.0350
+0.0400
+0.0350
+0.0350
+0.0350
+0.0350
+0.0460
+0.0460
+0.0460
+0.0350
+0.0400
+0.0460
+0.0460
+0.0460
+0.0460
+0.0460
+0.0400
+0.0460
+0.0400
110
150
130
110
110
114.3
114.3
130
114.3
115
114.3
114.3
200
200
200
110
180
200
200
230
200
200
180
250
180
ØL
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
H7
ØG
95
95
95
95
95
95
95
95
95
95
145
145
145
145
145
145
150
150
150
150
150
150
150
150
150
ØH
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
13.5
13.5
13.5
13.5
13.5
13.5
13.5
13.5
13.5
ØJ
14
14
14
14
14
14
14
14
14
14
14
14
14
14
14
14
20
20
20
20
20
20
20
20
20
K
10
9
9
9
10
10
10
10
10
9
10
10
5
10
10
8
5
5
5
5
5
5
5
5
5
M
11
10
11
10
11
12
12
12
12
11
10
10
7
10
10
10
7
7
10
7
7
10
12
10
7
ØN
145
185
165
130
145
200
200
165
200
165
200
200
235
235
235
145
215
235
235
265
250
235
215
300
215
P
M8
M10
M10
M8
M8
M12
M12
M10
M12
M8
M12
M12
M12
M12
M12
M8
M12
M12
M12
M12
M8
M12
M12
M16
M14
Q
20
-
-
20
20
20
20
20
-
-
-
20
-
20
20
13
-
-
25
-
20
25
15
25
-
Square type (30S)
Motor Mounting Dimension (mm)Reduction Gear Mounting Dimension (mm)
Model
GH24
Motor Flange Dimension (mm) Parts No.Code
S
C
D
E
F
H
30S203-*30S203C*30S203D*30S203E*30S203F*30S203H*
ØA
230
230
250
270
270
270
C
78
46
33
33
65
65
0-0.035
0-0.0350
-0.0350
-0.0350
-0.0350
-0.035
D
73
41
28
28
60
60
ØE
100
100
100
100
95
95
110
110
110
110
110
110
ØF
h7
h7
h7
h7
h7
h7
+0.0350
+0.0350
+0.0400
+0.0460
+0.0460
+0.0460
114.3
114.3
180
200
200
200
ØL
H7
H7
H7
H7
H7
H7
ØG
138
138
138
138
138
138
ØH
9
9
9
9
9
9
ØJ
-
14
14
14
14
14
K
9
9
10
10
9
9
M
10
6
8
8
10
10
ØN
200
138
200
215
235
235
250
P
M12
M14
M12
M12
M12
M12
M8
Q
13
13
13
-
-
20
20
Motor Mounting Dimension (mm)Reduction Gear Mounting Dimension (mm)
D
ØL
ØA
ØN
ØG
R˚(Motor mounting tap hole)4-Nominal P x Depth Q
(Motor mounting tap hole)4-Nominal P x Depth Q
(Motor mounting tap hole)4-Nominal P x Depth Q
(Flange mounting hole)6-Ø, depth QC
K
M
ØF
ØE Ø
FØ
E
K
M
ØL
ØF
ØE
K
(Flange mounting hole)6-ØH ØJ spot facing
ØAØN
ØG
ØAØN
ØG
Motor Flange Dimension (mm)
The shape of the part shown here is only a representation. For this reason, the actual shape may differ from the drawing shown here.
The part numbers attached with ✽ at the end are our revised numbers. These are subject to change without advance notice.
D
C
23 0-0.4
24 25
Combination with Non-standard Product
2. Manufacturing of input spline
3. Motor flange (blank)
45˚ 45˚
L*1
LDLC F
LBLA*3Spline
(Specifications are indicated below.)
Plunge cut length(This is in the h9 area)
ØD
BØ
DA
ØD
CØ
D*2
1. Input spline blank
For the combination with a non-standard product, use a semi-processed product (for the GH100, however, a semi-processed product is not available).
For Y1 taper shaft or straight shaft with key
For Y2 straight shaft without key
L
45
30
LDLC
(ØD
C)
ØD
BØ
DA
ZZ
Section Z-Z
(Bolt width)
ØD
11L2
45
Z1
(E)
Modify this part according to the dimension marked with an asterisk.
Center hole
During the modification work, make a plunge cut.
(Bolt width)
45
30
L
LC
(ØD
C)
ØD
BØ
DA
ZZ
Section Z-Z
(Bolt width)
ØD
11L2Z1
(E)
Modify this part according to the dimension marked with an asterisk.
Center hole
During the modification work, make a plunge cut.
(Bolt width)
(E)45
30
LLD
LC
(ØD
C)
ØD
BØ
DA
ZZ
Section Z-Z
(Bolt width)
ØD
11L2Z1
Modify this part according to the dimension marked with an asterisk.
Center hole
During the modification work, make a plunge cut.
(Bolt width)
M8 depth 14
E
H
G F
ØC
ØD
ØB
ØA
The parts numbers attached with ✽ at the end are our revised numbers. These are subject to change without advance notice.
✽ In the designing process, determine the hole size for the motor flange mounting bolt in reference to the external dimension drawing of reduction gear.
*1 : L must equal or exceed LD.
*2 : øD must equal or exceed øDC.
*3 : LA is the spline effective teeth width.
Model
GH7GH24GH40
ØDC Ø✽
Input Spline Dimension (mm)
(E)
(52)
(62)
(70)
Parts No.Code
Y1
Y1
Y1
10S140-*30S140-*40S140-*
ØD
32
42
50
ØDA
4.5
6.6
11
ØDB
24
32
40
28.2
36.2
45.2
+0.10
+0.10
+0.10
Z L
137
159
194
L2
5
7
8
LC
58
65
95.5
LD
94
100
128.5
Model
GH17ØDC Ø✽
Input Spline Dimension (mm)
(E)
(41)
Parts No.Code
Y1 20S140-*ØD
38.2
ØDA
6.6
ØDB
26 38.2 +0.10
Z L
137
L2
7
LC
74
LD
-
Model
GH7GH17GH24GH40
ØDC Ø✽
Input Spline Dimension (mm)
(E)
(48)
(50)
(64)
(58)
Parts No.Code
Y2
Y2
Y2
Y2
10S140A*20S140A*30S140A*40S140A*
ØD
53
63
63
70
ØDA
4.5
6.6
6.6
11
ØDB
24
26
32
40
28.2
38
36
45
+0.10
+0.2+0.1+0.2+0.1+0.2+0.1
Z 21
23
27
34
0-0.40
-0.40
-0.40
-0.6
L
133
146
161
184
L2
5
7
7
8
LC
58
74
65
95.5
LD
90
99
100
131
Model
GH7
GH17
GH24
GH40
GH100
ØDA
14
16
18
26
30
ØDB
24
26
32
40
52
28
38
36
45
55
h9
h9
h9
h9
h9
F(Min)
25
16
30
28
30
LA
23
33
20
34
44
LB
40
50
40
52
84
LC
58
74
65
95.5
155
LD
90
99
100
128.5
200
0-0.052 0-0.062 0-0.062 0-0.062 0-0.074
ØDC
Model
GH7GH17GH40
ØCMotor flange size (mm)
ØD
135
166
266
Parts No.Code
Y1
Y1
Y1
10S240-*20S240-*40S240-*
ØA
140
170
230
ØB
70
70
100
80
110
114.3
h7
h7
h7
0-0.0300
-0.0350
-0.035
E
60
50
50
F
27
22
22
G
5
5
5
H
45
35
32.5
Spline specificationsGH7 GH17 GH24
GH40
Side fitClass b
-0.078-0.01213.564Ø1.80
101020˚
1.00Low tooth
+0.812 x 10 x 1.0 (JIS B1603 Appendix)
Involute spline (shaft)
Tool
Pin diameterFace width
Remarks
Pitch circle diameterNumber of teeth
Addendum modification coefficient
Over-pin diameter
Pressure angleModule
Class
Tooth form
-0.078-0.01216.954
Side fitClass b
Ø2.25
12.51020˚
1.25Low tooth
+0.815 x 10 x 1.25 (JIS B1603 Appendix)
Involute spline (shaft)
Tool
Pin diameterFace width
Remarks
Pitch circle diameterNumber of teeth
Addendum modification coefficient
Over-pin diameter
Pressure angleModule
Class
Tooth form
-0.084-0.01319.225
Side fitClass b
Ø2.25
151220˚
1.25Low tooth
+0.617 x 12 x 1.25 (JIS B1603 Appendix)
Involute spline (shaft)
Tool
Pin diameterFace width
Remarks
Pitch circle diameterNumber of teeth
Addendum modification coefficient
Over-pin diameter
Pressure angleModule
Class
Tooth form
-0.089-0.01327.183
Side fitClass b
Ø2.25
22.51820˚
1.25Low tooth
+0.825 x 18 x 1.25 (JIS B1603 Appendix)
Involute spline (shaft)
Tool
Pin diameterFace width
Remarks
Pitch circle diameterNumber of teeth
Addendum modification coefficient
Over-pin diameter
Pressure angleModule
Class
Tooth form
GH100
-0.092-0.01432.258
Side fitClass b
Ø2.25
27.52220˚
1.25Low tooth
+0.830 x 22 x 1.25 (JIS D2001 Appendix)Involute spline for automobile (shaft)
Tool
Pin diameterFace width
Remarks
Pitch circle diameterNumber of teeth
Addendum modification coefficient
Over-pin diameter
Pressure angleModule
Class
Tooth form
Material: SCM415 HNRSurface finishing: Carburizing and quenching Surface hardness: HRC58 to 62 Applicable depth of quench-hardened case: 0.3 to 0.7 mm (HV513)
28 h9
36 h9
45 h9
0- 0.052 0- 0.062 0- 0.062
38 h9 0- 0.062
21
27
34
0-0.40
-0.40
-0.4
28 h9
38 h9
36 h9
45 h9
0- 0.052 0- 0.062 0- 0.062 0- 0.062
If a semi-processed input spline product is also not available, manufacture the correct input spline according to the following dimensions.
When you use the following semi-processed product, order motor flange code “Y1”.
When determining the motor flange length (thickness), take the input spline dimension and the input spline insertion amount in the reduction gear into consideration (refer to page 17).
23 0-0.4
24 25
Combination with Non-standard Product
2. Manufacturing of input spline
3. Motor flange (blank)
45˚ 45˚
L*1
LDLC F
LBLA*3Spline
(Specifications are indicated below.)
Plunge cut length(This is in the h9 area)
ØD
BØ
DA
ØD
CØ
D*2
1. Input spline blank
For the combination with a non-standard product, use a semi-processed product (for the GH100, however, a semi-processed product is not available).
For Y1 taper shaft or straight shaft with key
For Y2 straight shaft without key
L
45
30
LDLC
(ØD
C)
ØD
BØ
DA
ZZ
Section Z-Z
(Bolt width)
ØD
11L2
45
Z1
(E)
Modify this part according to the dimension marked with an asterisk.
Center hole
During the modification work, make a plunge cut.
(Bolt width)
45
30
L
LC
(ØD
C)
ØD
BØ
DA
ZZ
Section Z-Z
(Bolt width)
ØD
11L2Z1
(E)
Modify this part according to the dimension marked with an asterisk.
Center hole
During the modification work, make a plunge cut.
(Bolt width)
(E)45
30
LLD
LC
(ØD
C)
ØD
BØ
DA
ZZ
Section Z-Z
(Bolt width)
ØD
11L2Z1
Modify this part according to the dimension marked with an asterisk.
Center hole
During the modification work, make a plunge cut.
(Bolt width)
M8 depth 14
E
H
G F
ØC
ØD
ØB
ØA
The parts numbers attached with ✽ at the end are our revised numbers. These are subject to change without advance notice.
✽ In the designing process, determine the hole size for the motor flange mounting bolt in reference to the external dimension drawing of reduction gear.
*1 : L must equal or exceed LD.
*2 : øD must equal or exceed øDC.
*3 : LA is the spline effective teeth width.
Model
GH7GH24GH40
ØDC Ø✽
Input Spline Dimension (mm)
(E)
(52)
(62)
(70)
Parts No.Code
Y1
Y1
Y1
10S140-*30S140-*40S140-*
ØD
32
42
50
ØDA
4.5
6.6
11
ØDB
24
32
40
28.2
36.2
45.2
+0.10
+0.10
+0.10
Z L
137
159
194
L2
5
7
8
LC
58
65
95.5
LD
94
100
128.5
Model
GH17ØDC Ø✽
Input Spline Dimension (mm)
(E)
(41)
Parts No.Code
Y1 20S140-*ØD
38.2
ØDA
6.6
ØDB
26 38.2 +0.10
Z L
137
L2
7
LC
74
LD
-
Model
GH7GH17GH24GH40
ØDC Ø✽
Input Spline Dimension (mm)
(E)
(48)
(50)
(64)
(58)
Parts No.Code
Y2
Y2
Y2
Y2
10S140A*20S140A*30S140A*40S140A*
ØD
53
63
63
70
ØDA
4.5
6.6
6.6
11
ØDB
24
26
32
40
28.2
38
36
45
+0.10
+0.2+0.1+0.2+0.1+0.2+0.1
Z 21
23
27
34
0-0.40
-0.40
-0.40
-0.6
L
133
146
161
184
L2
5
7
7
8
LC
58
74
65
95.5
LD
90
99
100
131
Model
GH7
GH17
GH24
GH40
GH100
ØDA
14
16
18
26
30
ØDB
24
26
32
40
52
28
38
36
45
55
h9
h9
h9
h9
h9
F(Min)
25
16
30
28
30
LA
23
33
20
34
44
LB
40
50
40
52
84
LC
58
74
65
95.5
155
LD
90
99
100
128.5
200
0-0.052 0-0.062 0-0.062 0-0.062 0-0.074
ØDC
Model
GH7GH17GH40
ØCMotor flange size (mm)
ØD
135
166
266
Parts No.Code
Y1
Y1
Y1
10S240-*20S240-*40S240-*
ØA
140
170
230
ØB
70
70
100
80
110
114.3
h7
h7
h7
0-0.0300
-0.0350
-0.035
E
60
50
50
F
27
22
22
G
5
5
5
H
45
35
32.5
Spline specificationsGH7 GH17 GH24
GH40
Side fitClass b
-0.078-0.01213.564Ø1.80
101020˚
1.00Low tooth
+0.812 x 10 x 1.0 (JIS B1603 Appendix)
Involute spline (shaft)
Tool
Pin diameterFace width
Remarks
Pitch circle diameterNumber of teeth
Addendum modification coefficient
Over-pin diameter
Pressure angleModule
Class
Tooth form
-0.078-0.01216.954
Side fitClass b
Ø2.25
12.51020˚
1.25Low tooth
+0.815 x 10 x 1.25 (JIS B1603 Appendix)
Involute spline (shaft)
Tool
Pin diameterFace width
Remarks
Pitch circle diameterNumber of teeth
Addendum modification coefficient
Over-pin diameter
Pressure angleModule
Class
Tooth form
-0.084-0.01319.225
Side fitClass b
Ø2.25
151220˚
1.25Low tooth
+0.617 x 12 x 1.25 (JIS B1603 Appendix)
Involute spline (shaft)
Tool
Pin diameterFace width
Remarks
Pitch circle diameterNumber of teeth
Addendum modification coefficient
Over-pin diameter
Pressure angleModule
Class
Tooth form
-0.089-0.01327.183
Side fitClass b
Ø2.25
22.51820˚
1.25Low tooth
+0.825 x 18 x 1.25 (JIS B1603 Appendix)
Involute spline (shaft)
Tool
Pin diameterFace width
Remarks
Pitch circle diameterNumber of teeth
Addendum modification coefficient
Over-pin diameter
Pressure angleModule
Class
Tooth form
GH100
-0.092-0.01432.258
Side fitClass b
Ø2.25
27.52220˚
1.25Low tooth
+0.830 x 22 x 1.25 (JIS D2001 Appendix)Involute spline for automobile (shaft)
Tool
Pin diameterFace width
Remarks
Pitch circle diameterNumber of teeth
Addendum modification coefficient
Over-pin diameter
Pressure angleModule
Class
Tooth form
Material: SCM415 HNRSurface finishing: Carburizing and quenching Surface hardness: HRC58 to 62 Applicable depth of quench-hardened case: 0.3 to 0.7 mm (HV513)
28 h9
36 h9
45 h9
0- 0.052 0- 0.062 0- 0.062
38 h9 0- 0.062
21
27
34
0-0.40
-0.40
-0.4
28 h9
38 h9
36 h9
45 h9
0- 0.052 0- 0.062 0- 0.062 0- 0.062
If a semi-processed input spline product is also not available, manufacture the correct input spline according to the following dimensions.
When you use the following semi-processed product, order motor flange code “Y1”.
When determining the motor flange length (thickness), take the input spline dimension and the input spline insertion amount in the reduction gear into consideration (refer to page 17).
26 27
Engineering Notes
0.1
to 0
.3
b
Ød
We define the relief width “b” as follows: Shaft diameter (Ød) Relief width (b) Ød 25 mm 5 mm Ød 25 mm 7 mm
4) Relief hole for shaft hole polishing and its width
5) Attachment to the servomotor
2. Input spline motor shaft hole design
1. Installation direction of the reduction gear
Clearance
AReference for the motor shaft edge contact (Recommended by Nabtesco Corporation)The input gear reference mounting position is “A”, which is the edge of the motor shaft. (There is a clearance between the edge of the motor shaft base and the end face of the input gear.)
(1) For straight type (without key)
(4) For 1/10 taper(3) For straight type (stud bolt with key)
(2) For straight type (with key)
A*
B*
(4) Hexagon socket head cap bolt
Motor shaft
(5) Hexagon nut (1 type)
(4) Hexagon nut (3 types)
Key(2) Stud bolt
(3) Seal washer
(1) Input spline
Motor shaft
Motor shaft
Bolt width
Key
(3) Wedge friction coupling (2) Plate
(2) Hexagon socket head cap set screw
(1) Input spline
(1) Input spline
Enlarged drawingEnlarged drawing
* Adjust the deviation of “A” at the edge of the input spline to 70 μm or less against “B” on the motor mounting pilot diameter.
The tolerance of key width should be in compliance with “Js9” (JIS ordinary class).The tolerance of key height should be “0” to “+0.2”.
* The tolerance of key height defined by JIS is “0” to “+0.1”. However, with consideration given to the tilt of the slotter tool for the keyway, we define the dimensional tolerance as above.
h +0
.2 0
k Js91) Tolerance of key width and height
There are various different diameters of the motor shaft. For each shaft diameter, we define the tolerance of key width and key height as follows.
If you use the hollow shaft types installed vertically with the shaft facing upward (as shown in the figures below), contact our customer representative in advance.
For accuracy of gear and centering of the shaft hole diameter, the hole is polished.At this point, be sure to leave a relief width (polish 0.1 to 0.3 mm along the radius) at the back of the shaft hole.
kØd3) Relief hole for processing keyway
When processing a keyway, a relief hole for chippings will be required. We define the diameter of the relief hole (drilled hole) as follows.
Drilled hole (Ød) = k + 2 mm
* The above dimension is determined with consideration given to the tolerance of core misalignment during drilling.
Motor shaft
Woodruff key
(1) Input spline
(2) Draw bolt
(4) Hexagon nut (3 types)
(5) Hexagon nut (1 type)
(3) O-ring or seal washer
t2) Study of wall thickness between keyway and hub outside diameter
We define the wall thickness "t" between the shaft hole diameter and the outside diameter as shown on the right.
Wall thickness “t” 3 (based on our past results)
* If the wall thickness is below “t” defined here, the hardness of the core increases during quenching (carburizing), causing the core to be likely bent or twisted, which will require a masking process. In addition, it could also cause a swell or tilt of keyway toward the shaft, invalidating the symmetry feature of keyway width.
The following is a representative case for connecting an input spline to the servomotor shaft.
Vertical shaft installation (with shaft facing upward)
Output shaft
26 27
Engineering Notes
0.1
to 0
.3
bØ
d
We define the relief width “b” as follows: Shaft diameter (Ød) Relief width (b) Ød 25 mm 5 mm Ød 25 mm 7 mm
4) Relief hole for shaft hole polishing and its width
5) Attachment to the servomotor
2. Input spline motor shaft hole design
1. Installation direction of the reduction gear
Clearance
AReference for the motor shaft edge contact (Recommended by Nabtesco Corporation)The input gear reference mounting position is “A”, which is the edge of the motor shaft. (There is a clearance between the edge of the motor shaft base and the end face of the input gear.)
(1) For straight type (without key)
(4) For 1/10 taper(3) For straight type (stud bolt with key)
(2) For straight type (with key)
A*
B*
(4) Hexagon socket head cap bolt
Motor shaft
(5) Hexagon nut (1 type)
(4) Hexagon nut (3 types)
Key(2) Stud bolt
(3) Seal washer
(1) Input spline
Motor shaft
Motor shaft
Bolt width
Key
(3) Wedge friction coupling (2) Plate
(2) Hexagon socket head cap set screw
(1) Input spline
(1) Input spline
Enlarged drawingEnlarged drawing
* Adjust the deviation of “A” at the edge of the input spline to 70 μm or less against “B” on the motor mounting pilot diameter.
The tolerance of key width should be in compliance with “Js9” (JIS ordinary class).The tolerance of key height should be “0” to “+0.2”.
* The tolerance of key height defined by JIS is “0” to “+0.1”. However, with consideration given to the tilt of the slotter tool for the keyway, we define the dimensional tolerance as above.
h +0
.2 0
k Js91) Tolerance of key width and height
There are various different diameters of the motor shaft. For each shaft diameter, we define the tolerance of key width and key height as follows.
If you use the hollow shaft types installed vertically with the shaft facing upward (as shown in the figures below), contact our customer representative in advance.
For accuracy of gear and centering of the shaft hole diameter, the hole is polished.At this point, be sure to leave a relief width (polish 0.1 to 0.3 mm along the radius) at the back of the shaft hole.
kØd3) Relief hole for processing keyway
When processing a keyway, a relief hole for chippings will be required. We define the diameter of the relief hole (drilled hole) as follows.
Drilled hole (Ød) = k + 2 mm
* The above dimension is determined with consideration given to the tolerance of core misalignment during drilling.
Motor shaft
Woodruff key
(1) Input spline
(2) Draw bolt
(4) Hexagon nut (3 types)
(5) Hexagon nut (1 type)
(3) O-ring or seal washer
t2) Study of wall thickness between keyway and hub outside diameter
We define the wall thickness "t" between the shaft hole diameter and the outside diameter as shown on the right.
Wall thickness “t” 3 (based on our past results)
* If the wall thickness is below “t” defined here, the hardness of the core increases during quenching (carburizing), causing the core to be likely bent or twisted, which will require a masking process. In addition, it could also cause a swell or tilt of keyway toward the shaft, invalidating the symmetry feature of keyway width.
The following is a representative case for connecting an input spline to the servomotor shaft.
Vertical shaft installation (with shaft facing upward)
Output shaft
It is recommended that the running-in operation is performed.Abnormal noise or torque variation may occur during operation due to the characteristics of the lubricant. There is no problem with the quality when the symptom disappears after the break-in operation is performed for 30 minutes or more (until the surface temperature of the GH body reaches around 50°C).
Note: 1. The tightening torque values listed are for steel or cast iron material. 2. If softer material, such as aluminum or stainless, is used, limit the tightening torque. Also pay attention to the system requirements of the
transmission torque.
28 29
Engineering Notes
3. Installation of the reduction gear and mounting it to the output shaft
Note: When using any equivalent washer, select it with special care given to its outside diameter.
Hexagon socket head cap screwnominal size x pitch
Tightening torque
(Nm)
1) Bolt tightening torque and tightening force
4. Lubrication
Specified grease name
2) Calculation of allowable transmission torque of bolts
9.01 ± 0.49
15.6 ± 0.78
37.2 ± 1.86
73.5 ± 3.43
129 ± 6.37
205 ± 10.2
319 ± 15.9
Tightening forceF
(N)
9310
13180
23960
38080
55100
75860
103410
Bolt specification
◆ Hexagon socket head cap screw JIS B 1176 or Equivalent
◆ Strength class JIS B 1051 12.9 or Equivalent
◆ Thread JIS B 0205 6 g or class 2 or Equivalent
3) Serrated lock washer External teeth for hexagonal socket head cap screw
T
F
D
μ
n
Allowable transmission torque by tightening bolt (Nm)
Bolt tightening force (N)
Bolt mounting P.C.D (mm)
Friction factorμ=0.15: When grease remains on the mating face.
μ=0.20: When grease is removed from the mating face.
Number of bolts (pcs.)
(Unit: mm)
ID and OD of Bellevillespring washer
Nominalsize
Dd
Basic size
t H
5
6
8
10
12
14
16
5.25
6.4
8.4
10.6
12.6
14.6
16.9
8.5
10
13
16
18
21
24
0.6
1.0
1.2
1.5
1.8
2.0
2.3
0.85
1.25
1.55
1.9
2.2
2.5
2.8
Grease name Molywhite RE00
Manufacturer Nabtesco Corporation
Ambient temperature -10 to 40˚C
When installing a reduction gear and mounting it to the output shaft, use hexagon socket head cap screws and tighten to the torque, as specified below, in order to satisfy the momentary maximum allowable torque, which is noted in the rating table.Employment of the Belleville spring washer is recommended to prevent the bolt from loosening and protect the bolt cross section from flaws.
The standard lubrication method for the GH Series is grease.GH Series are pre-lubricated with our recommended Molywhite RE No. 00 grease when shipped.When this product is operated while it is filled with an appropriate amount of lubricant, the standard lubricant replacement time due to lubricant degradation is 20,000 hours. However, if GH Series are operated under unfavorable conditions (that may deteriorate the lubricant more quickly or that cause gear surface temperatures above 40°C), the state of lubricant degradation should be checked and the lubricant replaced earlier as necessary.
Name: Belleville spring washer (made by Heiw Hatsujyo Industry Co., Ltd.)Corporation symbol: CDW-2H-nominal size CDW-2L-5 (for only M5)Material: S50C to S70CHardness: HRC40 to 48
D
t
H
d
Note: VIGOGREASE RE0 is also applicable. If you wish to use it, please contact us.
5. Request regarding system design
If the lubricant used in the reduction gear leaks or the motor has a defect, the reduction gear needs to be removed. Carefully design the system considering this requirement.
M5 0.8
M6 1.0
M8 1.25
M10 1.5
M12 1.75
M14 2.0
M16 2.0
T = F n2 1,000Dμ
It is recommended that the running-in operation is performed.Abnormal noise or torque variation may occur during operation due to the characteristics of the lubricant. There is no problem with the quality when the symptom disappears after the break-in operation is performed for 30 minutes or more (until the surface temperature of the GH body reaches around 50°C).
Note: 1. The tightening torque values listed are for steel or cast iron material. 2. If softer material, such as aluminum or stainless, is used, limit the tightening torque. Also pay attention to the system requirements of the
transmission torque.
28 29
Engineering Notes
3. Installation of the reduction gear and mounting it to the output shaft
Note: When using any equivalent washer, select it with special care given to its outside diameter.
Hexagon socket head cap screwnominal size x pitch
Tightening torque
(Nm)
1) Bolt tightening torque and tightening force
4. Lubrication
Specified grease name
2) Calculation of allowable transmission torque of bolts
9.01 ± 0.49
15.6 ± 0.78
37.2 ± 1.86
73.5 ± 3.43
129 ± 6.37
205 ± 10.2
319 ± 15.9
Tightening forceF
(N)
9310
13180
23960
38080
55100
75860
103410
Bolt specification
◆ Hexagon socket head cap screw JIS B 1176 or Equivalent
◆ Strength class JIS B 1051 12.9 or Equivalent
◆ Thread JIS B 0205 6 g or class 2 or Equivalent
3) Serrated lock washer External teeth for hexagonal socket head cap screw
T
F
D
μ
n
Allowable transmission torque by tightening bolt (Nm)
Bolt tightening force (N)
Bolt mounting P.C.D (mm)
Friction factorμ=0.15: When grease remains on the mating face.
μ=0.20: When grease is removed from the mating face.
Number of bolts (pcs.)
(Unit: mm)
ID and OD of Bellevillespring washer
Nominalsize
Dd
Basic size
t H
5
6
8
10
12
14
16
5.25
6.4
8.4
10.6
12.6
14.6
16.9
8.5
10
13
16
18
21
24
0.6
1.0
1.2
1.5
1.8
2.0
2.3
0.85
1.25
1.55
1.9
2.2
2.5
2.8
Grease name Molywhite RE00
Manufacturer Nabtesco Corporation
Ambient temperature -10 to 40˚C
When installing a reduction gear and mounting it to the output shaft, use hexagon socket head cap screws and tighten to the torque, as specified below, in order to satisfy the momentary maximum allowable torque, which is noted in the rating table.Employment of the Belleville spring washer is recommended to prevent the bolt from loosening and protect the bolt cross section from flaws.
The standard lubrication method for the GH Series is grease.GH Series are pre-lubricated with our recommended Molywhite RE No. 00 grease when shipped.When this product is operated while it is filled with an appropriate amount of lubricant, the standard lubricant replacement time due to lubricant degradation is 20,000 hours. However, if GH Series are operated under unfavorable conditions (that may deteriorate the lubricant more quickly or that cause gear surface temperatures above 40°C), the state of lubricant degradation should be checked and the lubricant replaced earlier as necessary.
Name: Belleville spring washer (made by Heiw Hatsujyo Industry Co., Ltd.)Corporation symbol: CDW-2H-nominal size CDW-2L-5 (for only M5)Material: S50C to S70CHardness: HRC40 to 48
D
t
H
d
Note: VIGOGREASE RE0 is also applicable. If you wish to use it, please contact us.
5. Request regarding system design
If the lubricant used in the reduction gear leaks or the motor has a defect, the reduction gear needs to be removed. Carefully design the system considering this requirement.
M5 0.8
M6 1.0
M8 1.25
M10 1.5
M12 1.75
M14 2.0
M16 2.0
T = F n2 1,000Dμ
30 31
Appendix
z z
yx
R b
c
z z
yx
a b
c
z z
yx
a b
cz z
yx
a b
c
c/ 3
z z b/3
yx
a b
c
c/ 3
2R
x
z z
y
R
R
z z
2R2 yx
R
R1 R2
z z
yx
a b
b
3
za/4 z
yx
a
2R
R
m
η
I0
I
Axis of rotation
Axis of gravity O
Object Shape I (Inertia Moment), m (Mass) Object Shape I (Inertia Moment), m (Mass)
Ix = mR 212
m = πR2Rρ
Iz = Iy
Iy = m14 ( )R2 +
Ix = m (b2 + c2)112
Iy = m (a2 + c2)112
Iz = m (a2 + b2)112
m = abcρ
m = abcρ12
Ix = m (b2 + c2)124
Iy = m (c2 + 2a2)124
Iz = m (b2 + 2a2)124
Ix = m (b2 + c2)116
Iy = m14 ( )c 2
4 +
m = Rbcρπ4
Iz = m14 ( )b2
4 +
12Ix = m (R1
2 + R22)
m = π (R22 - R1
2)Rρ
Iz = Iy
{ }14Iy = m (R1
2 + R22) +
Ix = m ( )112
23
b2
2 + c2
Iy = m ( )112
23+ c2a2
m = abcρ12
Iz = m ( )a2112
b2
2+
Iz = Iy
m = abcρ12
Iy = m ( )a2 c2112
23+
Iz = m ( )a2 b2112
23+
Ix = m (b2 + c2)136
Iy = m ( )112
52+ b2a2
Ix = mb2512
m = ab2ρ 2
33
m = R2aρπ3
310Ix = mR2
Iz = Iy
Iy = m (4R2 + a2)380
I = I0 + mη2
I0 : Inertia moment of the object related to the axis of gravity
I : Inertia moment of the object related to the axis of rotation that is parallel to the axis of gravity
η : Distance between the axis of rotation and the axis of gravity
1
2
3
4
5
6
7
8
9
10 Parallel axis theorem
Inertia moment formula2R
1
Please complete the form below and send it with your order.
◆ System configuration and selected motorWe would appreciate if you could provide your system configuration draw-ing that helps us to understand the speed, constant torque, and load iner-tia moment of the output shaft for the reduction gear.
◆ Operation pattern (output shaft for the reduction gear)
◆ External load (output shaft for the reduction gear)
System configuration
Motor rated output (KW)
Motor rated torque (Nm)
Motor momentary maximum torque (Nm)
Motor rated speed (rpm)
PTM0
TM1
NM0
Motor model
Acceleration time (s)
Constant speed operation time (s)
Deceleration time (s)
One operation cycle time (s)
Number of operation cycles per day (times)
Number of operating days per year (days)
Constant speed (rpm)
Max. torque for startup (Nm)
Constant torque (Nm)
Max. torque for stop (Nm)
t1
t2
t3
t4
Q1
Q2
N2
T1
T2
T3
Radial load (N)
Distance to the point of radial load
application (mm)
Axial load (N)
Distance to the point of axial load
application (mm)
W1
L1
W2
L2
Motor mounting pilot diameter (mm)
Motor mounting bolt P.C.D (mm)
Motor mounting bolt size (mm)
Motor shaft length (mm)
Motor shaft diameter (mm)
Motor shaft effective length (mm)
abcdeg
t1 t2 t3
t4
N2
Red
uctio
n ge
arou
tput
spe
ed(rp
m)
Time (s)L2
L1 α1
W1
W2
Bolt size c
ea
d
b
1-248-553-3070 / 49-211-364677 / 81-6-6341-7182
Area In North and South America / In Europe and Africa / In Asia and others
▲
FAX USA: / Germany: / Osaka Sales Office:
▲
Order Information SheetCompany Name:
Name:
Dept. Name:
E-mail:
TEL. - - FAX. - -
Date.( )
g
Please inform us of whether a key is attached or not, and when it is attached, also inform us of its dimensions.
R2
3
R2
3
R2
3
R2
3
30 31
Appendix
z z
yx
R b
c
z z
yx
a b
c
z z
yx
a b
c
z z
yx
a b
c
c/ 3
z z b/3
yx
a b
c
c/ 3
2R
x
z z
y
R
R
z z
2R2 yx
R
R1 R2
z z
yx
a b
b
3
za/4 z
yx
a
2R
R
m
η
I0
I
Axis of rotation
Axis of gravity O
Object Shape I (Inertia Moment), m (Mass) Object Shape I (Inertia Moment), m (Mass)
Ix = mR 212
m = πR2Rρ
Iz = Iy
Iy = m14 ( )R2 +
Ix = m (b2 + c2)112
Iy = m (a2 + c2)112
Iz = m (a2 + b2)112
m = abcρ
m = abcρ12
Ix = m (b2 + c2)124
Iy = m (c2 + 2a2)124
Iz = m (b2 + 2a2)124
Ix = m (b2 + c2)116
Iy = m14 ( )c 2
4 +
m = Rbcρπ4
Iz = m14 ( )b2
4 +
12Ix = m (R1
2 + R22)
m = π (R22 - R1
2)Rρ
Iz = Iy
{ }14Iy = m (R1
2 + R22) +
Ix = m ( )112
23
b2
2 + c2
Iy = m ( )112
23+ c2a2
m = abcρ12
Iz = m ( )a2112
b2
2+
Iz = Iy
m = abcρ12
Iy = m ( )a2 c2112
23+
Iz = m ( )a2 b2112
23+
Ix = m (b2 + c2)136
Iy = m ( )112
52+ b2a2
Ix = mb2512
m = ab2ρ 2
33
m = R2aρπ3
310Ix = mR2
Iz = Iy
Iy = m (4R2 + a2)380
I = I0 + mη2
I0 : Inertia moment of the object related to the axis of gravity
I : Inertia moment of the object related to the axis of rotation that is parallel to the axis of gravity
η : Distance between the axis of rotation and the axis of gravity
1
2
3
4
5
6
7
8
9
10 Parallel axis theorem
Inertia moment formula
2R1
Please complete the form below and send it with your order.
◆ System configuration and selected motorWe would appreciate if you could provide your system configuration draw-ing that helps us to understand the speed, constant torque, and load iner-tia moment of the output shaft for the reduction gear.
◆ Operation pattern (output shaft for the reduction gear)
◆ External load (output shaft for the reduction gear)
System configuration
Motor rated output (KW)
Motor rated torque (Nm)
Motor momentary maximum torque (Nm)
Motor rated speed (rpm)
PTM0
TM1
NM0
Motor model
Acceleration time (s)
Constant speed operation time (s)
Deceleration time (s)
One operation cycle time (s)
Number of operation cycles per day (times)
Number of operating days per year (days)
Constant speed (rpm)
Max. torque for startup (Nm)
Constant torque (Nm)
Max. torque for stop (Nm)
t1
t2
t3
t4
Q1
Q2
N2
T1
T2
T3
Radial load (N)
Distance to the point of radial load
application (mm)
Axial load (N)
Distance to the point of axial load
application (mm)
W1
L1
W2
L2
Motor mounting pilot diameter (mm)
Motor mounting bolt P.C.D (mm)
Motor mounting bolt size (mm)
Motor shaft length (mm)
Motor shaft diameter (mm)
Motor shaft effective length (mm)
abcdeg
t1 t2 t3
t4
N2
Red
uctio
n ge
arou
tput
spe
ed(rp
m)
Time (s)L2
L1 α1
W1
W2
Bolt size c
ea
d
b
1-248-553-3070 / 49-211-364677 / 81-6-6341-7182
Area In North and South America / In Europe and Africa / In Asia and others
▲
FAX USA: / Germany: / Osaka Sales Office:
▲
Order Information SheetCompany Name:
Name:
Dept. Name:
E-mail:
TEL. - - FAX. - -
Date.( )
g
Please inform us of whether a key is attached or not, and when it is attached, also inform us of its dimensions.
R2
3
R2
3
R2
3
R2
3
32
MEMO
GH 7
GH 17
GH 24
GH 40
High Speed Gearheads taking your servomotor performance to the limitGH Series,
The GH Series provides significant advantages in terms of ease-of-use. It is based on a highly successful product, the Precision Reduction Gear RV, used in various applications around the world.
1. In the case where Nabtesco confirms that a defect of the Product was caused due to Nabtesco’s design or manufacture within the Warranty Period of the Product, Nabtesco shall repair or replace such defective Product at its cost. The Warranty Period shall be from the delivery of the Product by Nabtesco or its distribu-tor to you (“Customer”) until the end of one (1) year thereafter, or the end of two thousand (2,000) hours running of the Product installed into Customer’s equipment, whichever comes earlier.
2. Unless otherwise expressly agreed between the parties in writing, the warranty obligations for the Product shall be limited to the repair or replacement set forth herein. OTHER THAN AS PROVIDED HEREIN, THERE ARE NO WARRATIES ON THE PRODUCT, EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE.
3. The warranty obligation under the Section 1 above shall not apply if:
a) the defect was caused due to the use of the Product deviated from the Specifications or the working conditions provided by Nabtesco;
b) the defect was caused due to exposure to foreign substances or contamination (dirt, sand etc.)
c) lubricant or spare part other than the ones recommended by Nabtesco was used in the Product;
d) the Product was used in an unusual environment (such as high temperature, high humidity, a lot of dust, corrosive/volatile/inflammable gas, pressurized/depressurized air, under water/liquid or others except for those expressly stated in the Specifications);
e) the Product was disassembled, re-assembled, repaired or modified by anyone other than Nabtesco;
f ) the defect was caused due to the equipment into which the Product was installed;
g) the defect was caused due to an accident such as fire, earthquake, lightning, flood or others; or
h) the defect was due to any cause other than the design or manufacturing of the Product.
4. The warranty period for the repaired/replaced Product/part under the Section 1 above shall be the rest of the initial Warranty Period of the defective Product subjected to such repair/replace.
Warranty
®
Precision Reduction Gear RV TM
High-speed Gearhead
G H S e r i e s
CAT.150410 (Issued on April. 10, 2015)
Rev. 011
● Nabtesco, VIGOGREASE, RV are registered trademarks or trademarks of Nabtesco Corporation.● Specifications are subject to change without notice.● The PDF data of this catalog can be downloaded from the following website. http://precision.nabtesco.com/ If any addition or modification is made to the published information, the PDF data may be updated before the printed catalog. Due to this, please note that some contents of the PDF data may be changed or revised from those in this catalog.● Unauthorized reprinting, reproduction, copying, or translation of this catalog in whole or in part is strictly prohibited.
Europe and Africa
North and South America
China
Asia and others
Nabtesco Precision Europe GmbHTiefenbroicher Weg 15, 40472 Düesseldorf, GermanyTEL: +49-211-173790 FAX: +49-211-364677E-MAIL: [email protected] www.nabtesco.de
Nabtesco Motion Control Inc. in U.S.A (North America & South America)23976 Freeway Park Drive, Farmington Hills, MI 48335, USATEL: +1-248-553-3020 FAX: +1-248-553-3070E-MAIL: [email protected] www.nabtescomotioncontrol.com
Shanghai Nabtesco Motion-equipment Co., Ltd.Room 1706, Hong Jia Tower, No. 388 Fu Shan Road, Pudong New Area, Shanghai 200122, ChinaTEL: +86-21-3363-2200 FAX: +86-21-3363-2655E-MAIL: [email protected] www.nabtesco-motion.cn
Nabtesco CorporationOsaka Sales Office21st Fl, Dojima Avanza, 1-6-20 Dojima, Kita-ku, Osaka 530-0003, JapanTEL: +81-6-6341-7180 FAX: +81-6-6341-7182
Tsu Plant (Engineering Department)594 Icchoda, Katada-cho, Tsu, Mie 514-8533, JapanTEL: +81-59-237-4600 FAX: +81-59-237-4610
E-MAIL: [email protected] www.nabtesco.com